From the 1 of 6 linked papers with an AI index.
6 papers
Look, Focus, Act: Efficient and Robust Robot Learning via Human Gaze and Foveated Vision Transformers
Ian Chuang, Jinyu Zou, Andrew Lee +2
The paper introduces GIAVA, a robot vision system that incorporates human-like gaze and foveated processing into Vision Transformers, reducing computational load and improving robu…
VITA: Vision-to-Action Flow Matching Policy
Dechen Gao, Boqi Zhao, Andrew Lee +6
Conventional flow matching and diffusion-based policies sample via iterative denoising from standard noise distributions (e.g., Gaussian), and require conditioning modules to repea…
Gaze on the Prize: Shaping Visual Attention with Return-Guided Contrastive Learning
Andrew Lee, Ian Chuang, Dechen Gao +2
Visual Reinforcement Learning (RL) agents must learn to act based on high-dimensional image data where only a small fraction of the pixels is task-relevant. This forces agents to w…
Mechanistic interpretability for steering vision-language-action models
Bear Häon, Kaylene Stocking, Ian Chuang +1
Vision-Language-Action (VLA) models are a promising path to realizing generalist embodied agents that can quickly adapt to new tasks, modalities, and environments. However, methods…
Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation
Ian Chuang, Andrew Lee, Dechen Gao +2
Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learnin…
InterACT: Inter-dependency Aware Action Chunking with Hierarchical Attention Transformers for Bimanual Manipulation
Andrew Lee, Ian Chuang, Ling-Yuan Chen +1
Bimanual manipulation presents unique challenges compared to unimanual tasks due to the complexity of coordinating two robotic arms. In this paper, we introduce InterACT: Inter-dep…