4 papers
Flow as Flow: Modeling Robot Velocity Fields as Probability Velocity Fields for Flow-Based Object Manipulation
Koki Seno, Daichi Yashima, Yusuke Takagi +2
Cross-embodiment data have become central to training robotic foundation models. To leverage such heterogeneous data, we focus on flow-based object manipulation, where robot flows…
HiFlow: Tokenization-Free Scale-Wise Autoregressive Policy Learning via Flow Matching
Daichi Yashima, Koki Seno, Shuhei Kurita +2
Coarse-to-fine autoregressive modeling has recently shown strong promise for visuomotor policy learning, combining the inference efficiency of autoregressive methods with the globa…
LILAC: Language-Conditioned Object-Centric Optical Flow for Open-Loop Trajectory Generation
Motonari Kambara, Koki Seno, Tomoya Kaichi +2
We address language-conditioned robotic manipulation using flow-based trajectory generation, which enables training on human and web videos of object manipulation and requires only…
AnoleVLA: Lightweight Vision-Language-Action Model with Deep State Space Models for Mobile Manipulation
Yusuke Takagi, Motonari Kambara, Daichi Yashima +3
In this study, we address the problem of language-guided robotic manipulation, where a robot is required to manipulate a wide range of objects based on visual observations and natu…