4 papers
InSight: Self-Guided Skill Acquisition via Steerable VLAs
Maggie Wang, Lars Osterberg, Stephen Tian +3
Vision-language-action (VLA) models can learn manipulation skills from demonstrations, but their capabilities are bounded by the skills in the training data. We present InSight, a…
Phys2Real: Fusing VLM Priors with Interactive Online Adaptation for Uncertainty-Aware Sim-to-Real Manipulation
Maggie Wang, Stephen Tian, Aiden Swann +3
Learning robotic manipulation policies directly in the real world can be expensive and time-consuming. While reinforcement learning (RL) policies trained in simulation present a sc…
Comparing State-Representations for DEL Model Checking
Gregor Behnke, Malvin Gattinger, Avijeet Ghosh +1
Model checking with the standard Kripke models used in (Dynamic) Epistemic Logic leads to scalability issues. Hence alternative representations have been developed, in particular s…
Towards Foundation Models for 3D Vision: How Close Are We?
Yiming Zuo, Karhan Kayan, Maggie Wang +3
Building a foundation model for 3D vision is a complex challenge that remains unsolved. Towards that goal, it is important to understand the 3D reasoning capabilities of current mo…