From the 1 of 7 linked papers with an AI index.
4 papers · 1 filter
UniSteer: Unified Noise Steering for Efficient Human-Guided VLA Adaptation
Junjie Lu, Xinyao Qin, Yuhua Jiang +6
The paper introduces UniSteer, a framework that converts human corrective actions into noise targets to guide a lightweight noise-prediction actor while simultaneously training it…
Beyond Monotonic Progress: Retry-Supervised Value Learning for Robot Imitation
Xinyao Qin, Junjie Lu, Kaixin Wang +7
Human demonstrations for robot imitation learning often contain mistakes and corrective behaviors, such as imprecise grasps, object misalignment, unstable contact, and repeated att…
SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy
Yibo Liu, Stanko Oparnica, Simon Shewchun-Jakaitis +5
Contact-rich assembly is fundamental in robotics but poses significant challenges due to uncertainties in relative poses, such as misalignments and small clearances in peg-in-hole…
Integrating Diffusion-based Multi-task Learning with Online Reinforcement Learning for Robust Quadruped Robot Control
Xinyao Qin, Xiaoteng Ma, Yang Qi +6
Recent research has highlighted the powerful capabilities of imitation learning in robotics. Leveraging generative models, particularly diffusion models, these approaches offer not…