10 papers · 1 filter
ElegantVLA: Learning When to Think for Efficient Vision-Language-Action Models
Ye Li, Huanan Liu, Kangye Ji +7
Vision-Language-Action (VLA) models are a powerful paradigm for generalist robotic control. However, their high computational cost and limited control frequency hinder real-time ro…
Dreaming the Unseen: World Model-regularized Diffusion Policy for Out-of-Distribution Robustness
Ziou Hu, Xiangtong Yao, Yuan Meng +2
Diffusion policies excel at visuomotor control but often fail catastrophically under severe out-of-distribution (OOD) disturbances, such as unexpected object displacements or visua…
DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter
Xukun Li, Yu Sun, Lei Zhang +10
Bimanual dexterous manipulation relies on integrating multimodal inputs to perform complex real-world tasks. To address the challenges of effectively combining these modalities, we…
Growing with Your Embodied Agent: A Human-in-the-Loop Lifelong Code Generation Framework for Long-Horizon Manipulation Skills
Yuan Meng, Zhenguo Sun, Max Fest +3
Large language models (LLMs)-based code generation for robotic manipulation has recently shown promise by directly translating human instructions into executable code, but existing…
Inference-stage Adaptation-projection Strategy Adapts Diffusion Policy to Cross-manipulators Scenarios
Xiangtong Yao, Yirui Zhou, Yuan Meng +7
Diffusion policies are powerful visuomotor models for robotic manipulation, yet they often fail to generalize to manipulators or end-effectors unseen during training and struggle t…
RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Tracking
Zhenguo Sun, Yibo Peng, Yuan Meng +5
Long-horizon, high-dynamic motion tracking on humanoids remains brittle: retargeted reference motions are typically kinematically plausible but dynamically inconsistent with the ro…