30 citations · 52 across the 22 of their papers we have counts for
6 papers · 1 filter
Training Generalist Navigation Policies via Action Self-Distillation
Bowen Feng, Keqin Wang, Yulong Yang +4
Language provides a natural interface for humans to specify and reason about goals, but training language-conditioned robotic policies and reasoning typically requires expensive ma…
Higher-Order Morphology Priors for Quadruped Reinforcement Learning Under Actuator Degradation
Derek You, Zafir Shamsi, Keqin Wang +1
Actuator degradation turns quadruped locomotion into a coordination problem requiring joints to compensate for lost actuation. Prior work suggests that morphology-aware graph polic…
Demonstration Calibrated Port-Hamiltonian Retuning for Manipulation Policies
Yulong Yang, Fan Wu, Christine Allen-Blanchette +1
Diffusion and VLA policies for manipulation are often deployed through downstream impedance controllers. The stiffness and damping gains of these controllers affect task success, y…
Local-Canonicalization Equivariant Graph Neural Networks for Sample-Efficient and Generalizable Swarm Robot Control
Keqin Wang, Tao Zhong, David Chang +1
Multi-agent reinforcement learning (MARL) policies for swarm control often learn inefficiently and generalize poorly across coordinate frames, team sizes, and agent roles. We intro…
Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schrödinger Bridges
Tao Zhong, Jonah Buchanan, Christine Allen-Blanchette
We propose a new approach to vision-based dexterous grasp translation, which aims to transfer grasp intent across robotic hands with differing morphologies. Given a visual observat…
GAGrasp: Geometric Algebra Diffusion for Dexterous Grasping
Tao Zhong, Christine Allen-Blanchette
We propose GAGrasp, a novel framework for dexterous grasp generation that leverages geometric algebra representations to enforce equivariance to SE(3) transformations. By encoding…