From the 1 of 9 linked papers with an AI index.
7 papers · 1 filter
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…
Data-Asymmetric Latent Imagination and Reranking for 3D Robotic Imitation Learning
Lianghao Luo, Xizhou Bu, Ruyan Liu +5
Robotic imitation learning typically assumes access to optimal demonstrations, yet real-world data collection often yields suboptimal, exploratory, or even failed trajectories. Dis…
LongBench: Evaluating Robotic Manipulation Policies on Real-World Long-Horizon Tasks
Xueyao Chen, Jingkai Jia, Tong Yang +3
Robotic manipulation policies often degrade over extended horizons, yet existing benchmarks provide limited insight into why such failures occur. Most prior benchmarks are either s…
LAOF: Robust Latent Action Learning with Optical Flow Constraints
Xizhou Bu, Jiexi Lyu, Fulei Sun +3
Learning latent actions from large-scale videos is crucial for the pre-training of scalable embodied foundation models, yet existing methods often struggle with action-irrelevant d…
Diverse Skill Discovery for Quadruped Robots via Unsupervised Learning
Ruopeng Cui, Yifei Bi, Haojie Luo +1
Reinforcement learning necessitates meticulous reward shaping by specialists to elicit target behaviors, while imitation learning relies on costly task-specific data. In contrast,…
Real Garment Benchmark (RGBench): A Comprehensive Benchmark for Robotic Garment Manipulation featuring a High-Fidelity Scalable Simulator
Wenkang Hu, Xincheng Tang, Yanzhi E +5
While there has been significant progress to use simulated data to learn robotic manipulation of rigid objects, applying its success to deformable objects has been hindered by the…