From the 1 of 7 linked papers with an AI index.
7 papers
Tactile Modality Fusion for Vision-Language-Action Models
Charlotte Morissette, Amin Abyaneh, Wei-Di Chang +5
The paper introduces TacFiLM, a lightweight method that fuses tactile data with visual features in vision‑language‑action models to improve robot manipulation tasks that involve co…
The Surprising Difficulty of Search in Model-Based Reinforcement Learning
Wei-Di Chang, Mikael Henaff, Brandon Amos +2
This paper investigates search in model-based reinforcement learning (RL). Conventional wisdom holds that long-term predictions and compounding errors are the primary obstacles for…
Contractive Diffusion Policies: Robust Action Diffusion via Contractive Score-Based Sampling with Differential Equations
Amin Abyaneh, Charlotte Morissette, Mohamad H. Danesh +4
Diffusion policies have emerged as powerful generative models for offline policy learning, whose sampling process can be rigorously characterized by a score function guiding a stoc…
Learning Heuristics for Transit Network Design and Improvement with Deep Reinforcement Learning
Andrew Holliday, Ahmed El-Geneidy, Gregory Dudek
Planning a network of public transit routes is a challenging optimization problem. Metaheuristic algorithms search through the space of possible transit networks by applying heuris…
Large Pre-Trained Models for Bimanual Manipulation in 3D
Hanna Yurchyk, Wei-Di Chang, Gregory Dudek +1
We investigate the integration of attention maps from a pre-trained Vision Transformer into voxel representations to enhance bimanual robotic manipulation. Specifically, we extract…
Swarm Oracle: Trustless Blockchain Agreements through Robot Swarms
Alexandre Pacheco, Hanqing Zhao, Volker Strobel +4
Blockchain consensus, rooted in the principle ``don't trust, verify'', limits access to real-world data, which may be ambiguous or inaccessible to some participants. Oracles addres…