3 papers
cs.RO2026
Retriever: Composing Closed-Loop Asynchronous Robot Programs
Linfeng Zhao, Haojie Huang, Jiayuan Mao +3
Building long-horizon robot agents requires composing closed-loop pipelines -- perception, belief update, planning, and control -- whose components run at different clocks and with…
cs.RO2025
On-Robot Reinforcement Learning with Goal-Contrastive Rewards
Ondrej Biza, Thomas Weng, Lingfeng Sun +6
Reinforcement Learning (RL) has the potential to enable robots to learn from their own actions in the real world. Unfortunately, RL can be prohibitively expensive, in terms of on-r…
cs.LG2024
Learning to Navigate in Mazes with Novel Layouts using Abstract Top-down Maps
Linfeng Zhao, Lawson L. S. Wong
Learning navigation capabilities in different environments has long been one of the major challenges in decision-making. In this work, we focus on zero-shot navigation ability usin…