7 papers
Behavior Uncloning: Distilling Mode Redirection into Policy Weights without Inference-Time Steering
Hao Wang, Jiuzhou Lei, Dayou Li +5
Behavior-cloned policies often learn multiple behavior modes from demonstration datasets, including modes that are unsafe or otherwise undesired at deployment. For example, a polic…
Egocentric World Model for Photorealistic Hand-Object Interaction Synthesis
Dayou Li, Lulin Liu, Bangya Liu +6
To serve as a scalable data source for embodied AI, world models should act as true simulators that infer interaction dynamics strictly from user actions, rather than mere conditio…
Learning Actionable Manipulation Recovery via Counterfactual Failure Synthesis
Dayou Li, Jiuzhou Lei, Hao Wang +6
While recent foundation models have significantly advanced robotic manipulation, these systems still struggle to autonomously recover from execution errors. Current failure-learnin…
Coarse-to-Fine Detection of Multiple Seams for Robotic Welding
Pengkun Wei, Shuo Cheng, Dayou Li +3
Efficiently detecting target weld seams while ensuring sub-millimeter accuracy has always been an important challenge in autonomous welding, which has significant application in in…
Learning Instruction-Guided Manipulation Affordance via Large Models for Embodied Robotic Tasks
Dayou Li, Chenkun Zhao, Shuo Yang +3
We study the task of language instruction-guided robotic manipulation, in which an embodied robot is supposed to manipulate the target objects based on the language instructions. I…
Where to Fetch: Extracting Visual Scene Representation from Large Pre-Trained Models for Robotic Goal Navigation
Yu Li, Dayou Li, Chenkun Zhao +3
To complete a complex task where a robot navigates to a goal object and fetches it, the robot needs to have a good understanding of the instructions and the surrounding environment…