3 citations · 3 across the 19 of their papers we have counts for
11 papers · 1 filter
Retrieve in Time, Correct in Frequency
Yuze Fan, Yue Cao, Pengjie Gao +7
Frozen vision-language-action (VLA) policies generate temporally extended action chunks, but long-horizon manipulation remains vulnerable to accumulated execution error and visual…
FlowPRO: Reward-Free Reinforced Fine-Tuning of Flow-Matching VLAs via Proximalized Preference Optimization
Yihao Wu, He Zhang, Junbo Tan +2
Post-training Vision-Language-Action (VLA) models into policies that can be reliably deployed on real robots remains a major bottleneck. SFT and DAgger exploit failure signals only…
RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
Yucheng Xin, Jiacheng Bao, Yubo Dong +5
Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challengin…
Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
Yucheng Xin, Jiacheng Bao, Haoran Yang +6
The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-body control, facilitating diverse human-like behaviors. However, research…
Choose What to Manipulate: Revealing Data Scaling Laws in Bounding-Box Guided Policies for Semantic Manipulation
Yihao Wu, Jinming Ma, Junbo Tan +5
Diffusion-based policies generalize poorly in semantic manipulation, a key obstacle to real-world deployment, because text-only instructions cannot reliably steer the policy toward…
A Hybrid Force-Position Strategy for Shape Control of Deformable Linear Objects With Graph Attention Networks
Yanzhao Yu, Haotian Yang, Junbo Tan +1
Manipulating deformable linear objects (DLOs) such as wires and cables is crucial in various applications like electronics assembly and medical surgeries. However, it faces challen…
Data-Driven MPC with Data Selection for Flexible Cable-Driven Robotic Arms
Huayue Liang, Yanbo Chen, Hongyang Cheng +5
Flexible cable-driven robotic arms (FCRAs) offer dexterous and compliant motion. Still, the inherent properties of cables, such as resilience, hysteresis, and friction, often lead…
A Universal Vehicle-Trailer Navigation System with Neural Kinematics and Online Residual Learning
Yanbo Chen, Yunzhe Tan, Yaojia Wang +3
Autonomous navigation of vehicle-trailer systems is crucial in environments like airports, supermarkets, and concert venues, where various types of trailers are needed to navigate…
FOSP: Fine-tuning Offline Safe Policy through World Models
Chenyang Cao, Yucheng Xin, Silang Wu +4
Offline Safe Reinforcement Learning (RL) seeks to address safety constraints by learning from static datasets and restricting exploration. However, these approaches heavily rely on…
Offline Goal-Conditioned Reinforcement Learning for Safety-Critical Tasks with Recovery Policy
Chenyang Cao, Zichen Yan, Renhao Lu +2
Offline goal-conditioned reinforcement learning (GCRL) aims at solving goal-reaching tasks with sparse rewards from an offline dataset. While prior work has demonstrated various ap…
Visuotactile Sensor Enabled Pneumatic Device Towards Compliant Oropharyngeal Swab Sampling
Shoujie Li, Mingshan He, Wenbo Ding +5
Manual oropharyngeal (OP) swab sampling is an intensive and risky task. In this article, a novel OP swab sampling device of low cost and high compliance is designed by combining th…