1 citations · 2 across the 10 of their papers we have counts for
7 papers · 1 filter
DexDirect: Direct Kinesthetic Arm Guidance for Efficient Dexterous Demonstration Collection
Beom Jun Kim, Shiu-Jen Wang, Jonathan Liu +7
Scalable collection of dexterous manipulation demonstrations remains a major bottleneck for robot learning. High-fidelity interfaces often require costly hardware and extensive set…
STARE-VLA: Progressive Stage-Aware Reinforcement for Fine-Tuning Vision-Language-Action Models
Feng Xu, Guangyao Zhai, Xin Kong +4
Recent advances in Vision-Language-Action (VLA) models, powered by large language models and reinforcement learning-based fine-tuning, have shown remarkable progress in robotic man…
Diffusion-Based Imaginative Coordination for Bimanual Manipulation
Huilin Xu, Jian Ding, Jiakun Xu +7
Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimen…
OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering
Alexander Schperberg, Yusuke Tanaka, Saviz Mowlavi +3
State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and…
Real-to-Sim: Predicting Residual Errors of Robotic Systems with Sparse Data using a Learning-based Unscented Kalman Filter
Alexander Schperberg, Yusuke Tanaka, Feng Xu +2
Achieving highly accurate dynamic or simulator models that are close to the real robot can facilitate model-based controls (e.g., model predictive control or linear-quadradic regul…
Learning Near-global-optimal Strategies for Hybrid Non-convex Model Predictive Control of Single Rigid Body Locomotion
Xuan Lin, Feng Xu, Alexander Schperberg +1
Convex model predictive controls (MPCs) with a single rigid body model have demonstrated strong performance on real legged robots. However, convex MPCs are limited by their assumpt…
SQUIRL: Robust and Efficient Learning from Video Demonstration of Long-Horizon Robotic Manipulation Tasks
Bohan Wu, Feng Xu, Zhanpeng He +2
Recent advances in deep reinforcement learning (RL) have demonstrated its potential to learn complex robotic manipulation tasks. However, RL still requires the robot to collect a l…