5 papers · 1 filter
Latent Geometry Beyond Search: Amortizing Planning in World Models
Hoang Nguyen, Xiaohao Xu, Xiaonan Huang
Modern vision-based world models can represent observations as compact yet expressive latent manifolds, but fast goal-oriented planning in these spaces remains challenging. This ra…
When Search Becomes Memory: Turning Robot Design Trials into Transferable Skills
Yunfei Wang, Xiaohao Xu, Yang Li +1
Large language models (LLMs) are increasingly used as proposal generators for evolutionary robot design, yet most loops remain memoryless: simulator results shape the next populati…
Natural Selection via Foundation Models for Soft Robot Evolution
Changhe Chen, Xiaohao Xu, Xiangdong Wang +1
Designing soft robots is a complex and iterative process that demands cross-disciplinary expertise in materials science, mechanics, and control, often relying on intuition and exte…
ViSA-Flow: Accelerating Robot Skill Learning via Large-Scale Video Semantic Action Flow
Changhe Chen, Quantao Yang, Xiaohao Xu +2
One of the central challenges preventing robots from acquiring complex manipulation skills is the prohibitive cost of collecting large-scale robot demonstrations. In contrast, huma…
Whole-Body Proprioceptive Morphing: A Modular Soft Gripper for Robust Cross-Scale Grasping
Dong Heon Han, Xiaohao Xu, Yuxi Chen +5
Biological systems, such as the octopus, exhibit masterful cross-scale manipulation by adaptively reconfiguring their entire form, a capability that remains elusive in robotics. Co…