5 papers
EgoSteer: A Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos
Yifan Zhong, Zhang Chen, Tianrui Guan +13
Steerability is a defining capability of generalist robot policies, yet remains largely absent in dexterous-hand systems for lack of large-scale, language-aligned, and action-accur…
Preference Goal Tuning: Post-Training as Latent Control for Frozen Policies
Guangyu Zhao, Kewei Lian, Haoxuan Ru +8
Goal-conditioned policies enable decision-making models to execute diverse behaviors based on specified goals, yet their downstream performance is often highly sensitive to the cho…
Preserve Support, Not Correspondence: Dynamic Routing for Offline Reinforcement Learning
Zhancun Mu, Guangyu Zhao, Yiwu Zhong +1
One-step offline RL actors are attractive because they avoid backpropagating through long iterative samplers and keep inference cheap, but they still have to improve under a critic…
System Design for Maintaining Internal State Consistency in Long-Horizon Robotic Tabletop Games
Guangyu Zhao, Ceyao Zhang, Chengdong Ma +16
Long-horizon tabletop games pose a distinct systems challenge for robotics: small perceptual or execution errors can invalidate accumulated task state, propagate across decision-ma…
When Robots Should Say "I Don't Know": Benchmarking Abstention in Embodied Question Answering
Tao Wu, Chuhao Zhou, Guangyu Zhao +3
Embodied Question Answering (EQA) requires an agent to interpret language, perceive its environment, and navigate within 3D scenes to produce responses. Existing EQA benchmarks ass…