From the 2 of 9 linked papers with an AI index.
9 papers
Representation-Aligned Tactile Grounding for Contact-Rich Robotic Manipulation
Ruilin Chen, Jingkai Jia, Tong Yang +8
The paper proposes a lightweight latent tactile predictor that aligns intermediate action representations with future tactile outcomes, improving contact-rich robotic manipulation…
EDAR: Learning Environment-Dependent Action Representations for Robotic Manipulation
Yuecheng Xu, Tong Yang, Jingkai Jia +3
The paper introduces EDAR, a method that learns action representations for robotic manipulation by linking control commands with the visual effects they cause in a given environmen…
Achieving Logarithmic Regret in KL-Regularized Zero-Sum Markov Games
Anupam Nayak, Tong Yang, Osman Yagan +2
Reverse Kullback-Leibler (KL) divergence-based regularization with respect to a fixed reference policy is widely used in modern reinforcement learning to preserve the desired trait…
SanD-Planner: Sample-Efficient Diffusion Planner in B-Spline Space for Robust Local Navigation
Jincheng Wang, Lingfan Bao, Tong Yang +3
The challenge of generating reliable local plans has long hindered practical applications in highly cluttered and dynamic environments. Key fundamental bottlenecks include acquirin…
Multi-head Transformers Provably Learn Symbolic Multi-step Reasoning via Gradient Descent
Tong Yang, Yu Huang, Yingbin Liang +1
Transformers have demonstrated remarkable capabilities in multi-step reasoning tasks. However, understandings of the underlying mechanisms by which they acquire these abilities thr…
Fast Visuomotor Policy for Robotic Manipulation
Jingkai Jia, Tong Yang, Xueyao Chen +2
We present a fast and effective policy framework for robotic manipulation, named Energy Policy, designed for high-frequency robotic tasks and resource-constrained systems. Unlike e…