Publications (10)
ImitDiff: Transferring Foundation-Model Priors for Distraction Robust Visuomotor Policy
Yuhang Dong, Haizhou Ge, Yupei Zeng +9
Visuomotor imitation learning policies enable robots to efficiently acquire manipulation skills from visual demonstrations. However, as scene complexity and visual distractions inc…
UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
Yufei Jia, Zhanxiang Cao, Mingrui Yu +48
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-ce…
Wavelet Policy: Imitation Learning in the Scale Domain with World Prior Memory
Changchuan Yang, Haoxuan Xu, Yuhang Dong +3
Conventional visuomotor imitation learning usually predicts future robot actions directly in the time domain. Such formulations often have limited physical scene awareness and weak…
ManiVID-3D: Generalizable View-Invariant Reinforcement Learning for Robotic Manipulation via Disentangled 3D Representations
Zheng Li, Pei Qu, Yufei Jia +6
Deploying visual reinforcement learning (RL) policies in real-world manipulation is often hindered by camera viewpoint changes. A policy trained from a fixed front-facing camera ma…
Bridging the Resource Gap: Deploying Advanced Imitation Learning Models onto Affordable Embedded Platforms
Haizhou Ge, Ruixiang Wang, Zhu-ang Xu +7
Advanced imitation learning with structures like the transformer is increasingly demonstrating its advantages in robotics. However, deploying these large-scale models on embedded p…
DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments
Yufei Jia, Guangyu Wang, Yuhang Dong +17
We present the first unified, modular, open-source 3DGS-based simulation framework for Real2Sim2Real robot learning. It features a holistic Real2Sim pipeline that synthesizes hyper…