2 citations · 4 across the 13 of their papers we have counts for
15 papers
SUAVE: Unified Video-Action Models via Masked Diffusion
Rhythm Syed, Jean Mercat, Sedrick Keh +5
Vision-language-action models (VLAs) inherit strong semantic grounding from pretrained vision-language backbones but are typically optimized for predicting actions rather than futu…
Memory Anchors for Continual Robot Learning
Maximilian Du, Zhanyi Sun, Chen Xu +3
Robot policies deployed in the wild should have the capability to continually learn new tasks without forgetting existing behaviors. A common approach to combat such catastrophic f…
Latent Memory Palace: Reasoning for Control as Autoregressive Variational Inference
Chuning Zhu, Eva Xu, Jose Barreiros +3
Human decision-making is highly flexible -- some actions are taken immediately; others require longer deliberation. Language models have exhibited a similar capacity for adaptive "…
OGPO: Sample Efficient Full-Finetuning of Generative Control Policies
Sarvesh Patil, Mitsuhiko Nakamoto, Manan Agarwal +14
Generative control policies (GCPs), such as diffusion- and flow-based control policies, have emerged as effective parameterizations for robot learning. This work introduces Off-pol…
Difference-Aware Retrieval Policies for Imitation Learning
Quinn Pfeifer, Ethan Pronovost, Paarth Shah +3
Parametric imitation learning via behavior cloning can suffer from poor generalization to out-of-distribution states due to compounding errors during deployment. We show that reusi…
VLA Foundry: A Unified Framework for Training Vision-Language-Action Models
Jean Mercat, Sedrick Keh, Kushal Arora +5
We present VLA Foundry, an open-source framework that unifies LLM, VLM, and VLA training in a single codebase. Most open-source VLA efforts specialize on the action training stage,…
A Systematic Study of Data Modalities and Strategies for Co-training Large Behavior Models for Robot Manipulation
Fanqi Lin, Kushal Arora, Jean Mercat +9
Large behavior models have shown strong dexterous manipulation capabilities by extending imitation learning to large-scale training on multi-task robot data, yet their generalizati…
Using Non-Expert Data to Robustify Imitation Learning via Offline Reinforcement Learning
Kevin Huang, Rosario Scalise, Cleah Winston +9
Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality,…
Video Generators are Robot Policies
Junbang Liang, Pavel Tokmakov, Ruoshi Liu +4
Despite tremendous progress in dexterous manipulation, current visuomotor policies remain fundamentally limited by two challenges: they struggle to generalize under perceptual or b…
A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
TRI LBM Team, Jose Barreiros, Andrew Beaulieu +79
Robot manipulation has seen tremendous progress in recent years, with imitation learning policies enabling successful performance of dexterous and hard-to-model tasks. Concurrently…
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity
Guang Yin, Yitong Li, Yixuan Wang +6
Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple…
Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets
Chuning Zhu, Raymond Yu, Siyuan Feng +3
Imitation learning has emerged as a promising approach towards building generalist robots. However, scaling imitation learning for large robot foundation models remains challenging…
Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies
Chen Xu, Tony Khuong Nguyen, Emma Dixon +7
Recent years have witnessed impressive robotic manipulation systems driven by advances in imitation learning and generative modeling, such as diffusion- and flow-based approaches.…
Robot Learning as an Empirical Science: Best Practices for Policy Evaluation
Hadas Kress-Gazit, Kunimatsu Hashimoto, Naveen Kuppuswamy +5
The robot learning community has made great strides in recent years, proposing new architectures and showcasing impressive new capabilities; however, the dominant metric used in th…
How Generalizable Is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation
Joseph A. Vincent, Haruki Nishimura, Masha Itkina +3
With the rise of stochastic generative models in robot policy learning, end-to-end visuomotor policies are increasingly successful at solving complex tasks by learning from human d…