5 papers · 1 filter
CoRDE: Concept-Prior Routed Diffusion Experts for Structural Generalization in Robot Manipulation
Haidong Huang, Xixin Zhao, Yaohua Zhou +5
Diffusion models excel at capturing multi-modal action distributions in robot imitation learning. However, in multi-task and long-horizon scenarios, monolithic architectures lack s…
Safe Bayesian Optimization for Complex Control Systems via Additive Gaussian Processes
Hongxuan Wang, Xiaocong Li, Lihao Zheng +2
Automatic controller tuning is attractive for robotics and mechatronic systems whose dynamics are difficult to model accurately, but direct black-box optimization can be unsafe bec…
FD-VLA: Force-Distilled Vision-Language-Action Model for Contact-Rich Manipulation
Ruiteng Zhao, Wenshuo Wang, Yicheng Ma +4
Force sensing is a crucial modality for Vision-Language-Action (VLA) frameworks, as it enables fine-grained perception and dexterous manipulation in contact-rich tasks. We present…
Opinion: Towards Unified Expressive Policy Optimization for Robust Robot Learning
Haidong Huang, Haiyue Zhu. Jiayu Song, Xixin Zhao +4
Offline-to-online reinforcement learning (O2O-RL) has emerged as a promising paradigm for safe and efficient robotic policy deployment but suffers from two fundamental challenges:…
Robotic Control Optimization Through Kernel Selection in Safe Bayesian Optimization
Lihao Zheng, Hongxuan Wang, Xiaocong Li +2
Control system optimization has long been a fundamental challenge in robotics. While recent advancements have led to the development of control algorithms that leverage learning-ba…