5 papers
RoboLineage: Agent-Native Data Lifecycle Governance Across Robot Policy Iterations
Qian Luo, Wentao Guo, Zhennan Qin +4
We present RoboLineage, an agent-native data lifecycle governance system for robot policy iteration. Modern robot policies improve through repeated data collection, review, retrain…
Geometric Entropy: When Trajectory Diversity Helps and Hurts in Imitation Learning
Qian Luo, Ruizhe Liu, Pei Zhou +2
We study how trajectory-shape diversity in demonstrations affects imitation learning (IL) performance across models, tasks, and data scales. We introduce Geometric Entropy (H_G), a…
Robust and Generalized Humanoid Motion Tracking
Yubiao Ma, Han Yu, Jiayin Xie +7
Learning a general humanoid whole-body controller is challenging because practical reference motions can exhibit noise and inconsistencies after being transferred to the robot doma…
Hyper-GoalNet: Goal-Conditioned Manipulation Policy Learning with HyperNetworks
Pei Zhou, Wanting Yao, Qian Luo +2
Goal-conditioned policy learning for robotic manipulation presents significant challenges in maintaining performance across diverse objectives and environments. We introduce Hyper-…
HiMaCon: Discovering Hierarchical Manipulation Concepts from Unlabeled Multi-Modal Data
Ruizhe Liu, Pei Zhou, Qian Luo +4
Effective generalization in robotic manipulation requires representations that capture invariant patterns of interaction across environments and tasks. We present a self-supervised…