6 papers · 1 filter
Temporal Self-Imitation Learning
Yinsen Jia, Boyuan Chen
Long-horizon robot manipulation policies trained with reward shaping can still achieve high return through inefficient interactions, while rare efficient behaviors discovered durin…
HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model
Dongting Li, Xingyu Chen, Qianyang Wu +10
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated o…
Time as a Control Dimension in Robot Learning
Yinsen Jia, Boyuan Chen
Temporal awareness plays a central role in intelligent behavior by shaping how actions are paced, coordinated, and adapted to changing goals and environments. In contrast, most rob…
TumorMap: A Laser-based Surgical Platform for 3D Tumor Mapping and Fully-Automated Tumor Resection
Guangshen Ma, Ravi Prakash, Beatrice Schleupner +10
Surgical resection of malignant solid tumors is critically dependent on the surgeon's ability to accurately identify pathological tissue and remove the tumor while preserving surro…
A Paragraph is All It Takes: Rich Robot Behaviors from Interacting, Trusted LLMs
OpenMind, Shaohong Zhong, Adam Zhou +3
Large Language Models (LLMs) are compact representations of all public knowledge of our physical environment and animal and human behaviors. The application of LLMs to robotics may…
ClutterGen: A Cluttered Scene Generator for Robot Learning
Yinsen Jia, Boyuan Chen
We introduce ClutterGen, a physically compliant simulation scene generator capable of producing highly diverse, cluttered, and stable scenes for robot learning. Generating such sce…