5 papers
Behavior Foundations for Quadruped Robots: ABot-C0 Technical Report
Xufeng Zhao, Fuzhi Yang, Jianhui Chen +17
The motion controller is one of the most fundamental modules in embodied intelligence systems. Driven by large-scale human motion-capture data and the motion-tracking paradigm, hum…
StateVLM: A State-Aware Vision-Language Model for Robotic Affordance Reasoning
Xiaowen Sun, Matthias Kerzel, Mengdi Li +3
Vision-language models (VLMs) have shown remarkable performance in various robotic tasks, as they can perceive visual information and understand natural language instructions. Howe…
Curriculum-RLAIF: Curriculum Alignment with Reinforcement Learning from AI Feedback
Jiaye Lin, Mengdi Li, Xufeng Zhao +4
Reward models trained through Reinforcement Learning from AI Feedback (RLAIF) methods frequently suffer from limited generalizability, which hinders the alignment performance of po…
PersRM-R1: Enhance Personalized Reward Modeling with Reinforcement Learning
Mengdi Li, Guanqiao Chen, Xufeng Zhao +3
Reward models (RMs), which are central to existing post-training methods, aim to align LLM outputs with human values by providing feedback signals during fine-tuning. However, exis…
LLM+MAP: Bimanual Robot Task Planning using Large Language Models and Planning Domain Definition Language
Kun Chu, Xufeng Zhao, Cornelius Weber +1
Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination betw…