3 citations · 6 across the 14 of their papers we have counts for
10 papers · 1 filter
PointMapPolicy: Structured Point Cloud Processing for Multi-Modal Imitation Learning
Xiaogang Jia, Qian Wang, Anrui Wang +12
Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure,…
FLOWER: Democratizing Generalist Robot Policies with Efficient Vision-Language-Action Flow Policies
Moritz Reuss, Hongyi Zhou, Marcel Rühle +3
Developing efficient Vision-Language-Action (VLA) policies is crucial for practical robotics deployment, yet current approaches face prohibitive computational costs and resource re…
MoRe-ERL: Learning Motion Residuals using Episodic Reinforcement Learning
Xi Huang, Hongyi Zhou, Ge Li +5
We propose MoRe-ERL, a framework that combines Episodic Reinforcement Learning (ERL) and residual learning, which refines preplanned reference trajectories into safe, feasible, and…
BEAST: Efficient Tokenization of B-Splines Encoded Action Sequences for Imitation Learning
Hongyi Zhou, Weiran Liao, Xi Huang +11
We present the B-spline Encoded Action Sequence Tokenizer (BEAST), a novel action tokenizer that encodes action sequences into compact discrete or continuous tokens using B-splines…
MonoMobility: Zero-Shot 3D Mobility Analysis from Monocular Videos
Hongyi Zhou, Yulan Guo, Xiaogang Wang +1
Accurately analyzing the motion parts and their motion attributes in dynamic environments is crucial for advancing key areas such as embodied intelligence. Addressing the limitatio…
NAMI: Efficient Image Generation via Bridged Progressive Rectified Flow Transformers
Yuhang Ma, Bo Cheng, Shanyuan Liu +4
Flow-based Transformer models have achieved state-of-the-art image generation performance, but often suffer from high inference latency and computational cost due to their large pa…
Chunking the Critic: A Transformer-based Soft Actor-Critic with N-Step Returns
Dong Tian, Onur Celik, Gerhard Neumann
We introduce a sequence-conditioned critic for Soft Actor-Critic (SAC) that models trajectory context with a lightweight Transformer and trains on aggregated -step targets. Unli…
X-IL: Exploring the Design Space of Imitation Learning Policies
Xiaogang Jia, Atalay Donat, Xi Huang +8
Designing modern imitation learning (IL) policies requires making numerous decisions, including the selection of feature encoding, architecture, policy representation, and more. As…
Towards Fusing Point Cloud and Visual Representations for Imitation Learning
Atalay Donat, Xiaogang Jia, Xi Huang +7
Learning for manipulation requires using policies that have access to rich sensory information such as point clouds or RGB images. Point clouds efficiently capture geometric struct…
IRIS: An Immersive Robot Interaction System
Xinkai Jiang, Qihao Yuan, Enes Ulas Dincer +11
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challen…