18 citations · 32 across the 23 of their papers we have counts for
9 papers · 1 filter
2AM: Grounding Agent-Side Memory as Guidance for Steerable Action Models in Long-Horizon Manipulation
Yutong Hu, Fengjiao Chen, Xuezhi Cao +1
Long-horizon robot manipulation requires memory, but not necessarily inside the action policy. To address such tasks, current agentic systems often combine VLAs with planners and g…
FOCI Policy: Focus on Object-Centric Interactions for Relational Manipulation Policies
Ze Fu, Pinhao Song, Yutong Hu +1
Object-centric manipulation policies improve generalization by modeling object motion instead of directly predicting robot actions. However, existing methods are often limited by r…
Robot Trajectron V3: A Probabilistic Shared Control Framework for SE(3) Manipulation
Pinhao Song, Zhongxi Li, Ze Fu +2
We aim to address the challenge of teleoperating robotic arms for high-degree-of-freedom (high-DoF) manipulation tasks, which is cognitively demanding and error-prone, particularly…
Assistron: Bayesian Shared Autonomy with Off-the-shelf Vision-Language-Action Models
Pinhao Song, Ze Fu, Yutong Hu +1
We propose Assistron, a shared autonomy model that leverages Vision-Language-Action (VLA) models to assist the user in daily activities. Our approach is grounded in two core princi…
FF-JEPA: Long-Horizon Planning in World Models with Latent Planners
Sergi Masip, Jonathan Swinnen, Yutong Hu +2
Joint Embedding Predictive Architectures (JEPAs) have shown promising world modeling capabilities, enabling planning in latent space by optimizing action trajectories using methods…
CAD-Free Learning of Spacecraft Pose Estimators via NeRF-Based Augmentations
Antoine Legrand, Renaud Detry, Christophe De Vleeschouwer
Spacecraft pose estimation networks require tens of thousands of CAD-rendered images to be trained. This reliance on synthetic CAD data (i) limits applicability to targets with rel…
NeRF-based Spacecraft Reconstruction from Monocular Imagery Under Illumination Variability and Pose Uncertainty
Antoine Legrand, Renaud Detry, Christophe De Vleeschouwer
Autonomous rendezvous and proximity operations around uncooperative, unknown spacecraft are critical for active debris removal and on-orbit servicing missions. A key component of s…
ELVIS: Ensemble-Calibrated Latent Imagination for Long-Horizon Visual MPC
Yurui Du, Pinhao Song, Yutong Hu +1
A central challenge of visual control with model-based reinforcement learning (RL) is reliable long-horizon planning: long rollouts with learned latent dynamics exhibit branching f…
AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models
Yutong Hu, Jan-Nico Zaech, Nikolay Nikolov +6
We propose a standalone autoregressive (AR) Action Expert that generates actions as a continuous causal sequence while conditioning on refreshable vision-language prefixes. In cont…