4 papers
OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies
Kelin Yu, Haode Zhang, Harish Ravichandar +2
Visual policies learned from human videos, teleoperation, and robot demonstrations offer scalable motion priors, but often fail in contact-rich manipulation, where success signific…
Beyond Static Vision: Scene Dynamic Field Unlocks Intuitive Physics Understanding in Multi-modal Large Language Models
Nanxi Li, Xiang Wang, Yuanjie Chen +3
While Multimodal Large Language Models (MLLMs) have demonstrated impressive capabilities in image and video understanding, their ability to comprehend the physical world has become…
Robust Reward Alignment via Hypothesis Space Batch Cutting
Zhixian Xie, Haode Zhang, Yizhe Feng +1
Reward design in reinforcement learning and optimal control is challenging. Preference-based alignment addresses this by enabling agents to learn rewards from ranked trajectory pai…
New Intent Discovery with Pre-training and Contrastive Learning
Yuwei Zhang, Haode Zhang, Li-Ming Zhan +2
New intent discovery aims to uncover novel intent categories from user utterances to expand the set of supported intent classes. It is a critical task for the development and servi…