4 papers · 1 filter
FARM: Find Anything using Relational Spatial Memory
Siming He, Leo Huang, Adam Lilja +7
Robots operating in homes, warehouses, and other object-rich environments need memory systems that can find specific object instances on demand. Object-level memory alone is often…
LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction
Haoru Xue, Xiaoyu Huang, Dantong Niu +8
Vision-language-action (VLA) models have demonstrated strong semantic understanding and zero-shot generalization, yet most existing systems assume an accurate low-level controller…
HITTER: A HumanoId Table TEnnis Robot via Hierarchical Planning and Learning
Zhi Su, Bike Zhang, Nima Rahmanian +5
Humanoid robots have recently achieved impressive progress in locomotion and whole-body control, yet they remain constrained in tasks that demand rapid interaction with dynamic env…
Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
Zixuan Chen, Xialin He, Yen-Jen Wang +8
Reinforcement learning combined with sim-to-real transfer offers a general framework for developing locomotion controllers for legged robots. To facilitate successful deployment in…