4 papers · 1 filter
Artificial Foveated Perception for Mitigating Shortcut Learning in Robotic Foundation Models
Xiatao Sun, Yuan Zhuang, Mateo Sanchez Lopez Negrete +9
Robotic foundation models have recently made substantial progress in multi-task capability, cross-embodiment transfer, and language-conditioned control. Yet robust deployment acros…
Robust and Efficient MuJoCo-based Model Predictive Control via Web of Affine Spaces Derivatives
Chen Liang, Daniel Rakita
MuJoCo is a powerful and efficient physics simulator widely used in robotics. One common way it is applied in practice is through Model Predictive Control (MPC), which uses repeate…
Coherence-based Approximate Derivatives via Web of Affine Spaces Optimization
Daniel Rakita, Chen Liang, Qian Wang
Computing derivatives is a crucial subroutine in computer science and related fields as it provides a local characterization of a function's steepest directions of ascent or descen…
ad-trait: A Fast and Flexible Automatic Differentiation Library in Rust
Chen Liang, Qian Wang, Andy Xu +1
The Rust programming language is an attractive choice for robotics and related fields, offering highly efficient and memory-safe code. However, a key limitation preventing its broa…