4 citations · 5 across the 17 of their papers we have counts for
10 papers · 1 filter
One from Infinity: Actualizing Futures from Pretrained World Models into Robot Actions
Bang Du, Yichen Xie, Shuqi Zhao +3
A pretrained video world model admits many plausible futures for a scene, but a robot must realize the exact task-conditioned one. To turn world models into executable robot polici…
TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model
Anqi Li, Yuxin Chen, Zhaobo Li +4
We study the problem of navigating cluttered indoor environments with a humanoid robot. Unlike conventional methods that model navigation as a 2D path planning problem, humanoid tr…
CLIFT: Turning Gemini Robotics On-Device into Humanoid Specialists via Non-Invasive Closed-Loop Iterative Fine-Tuning
Yuxin Chen, Hari Srikanth, Nathan Jew +7
While robot foundation models are growing increasingly capable, the strongest models are typically trained on proprietary data and remain closed-source, limiting downstream users'…
TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation
Jianuo Cao, Yuxin Chen, Yuzhen Song +3
Text-conditioned motion generation is a promising interface for programming humanoid robots, yet current generators are often trained on human motion datasets retargeted to robot m…
Reimagination with Test-time Observation Interventions: Distractor-Robust World Model Predictions for Visual Model Predictive Control
Yuxin Chen, Jianglan Wei, Chenfeng Xu +4
World models enable robots to "imagine" future observations given current observations and planned actions, and have been increasingly adopted as generalized dynamics models to fac…
DexCtrl: Towards Sim-to-Real Dexterity with Adaptive Controller Learning
Shuqi Zhao, Ke Yang, Yuxin Chen +5
Dexterous manipulation has seen remarkable progress in recent years, with policies capable of executing many complex and contact-rich tasks in simulation. However, transferring the…
Physics-Aware Robotic Palletization with Online Masking Inference
Tianqi Zhang, Zheng Wu, Yuxin Chen +6
The efficient planning of stacking boxes, especially in the online setting where the sequence of item arrivals is unpredictable, remains a critical challenge in modern warehouse an…
FDPP: Fine-tune Diffusion Policy with Human Preference
Yuxin Chen, Devesh K. Jha, Masayoshi Tomizuka +1
Imitation learning from human demonstrations enables robots to perform complex manipulation tasks and has recently witnessed huge success. However, these techniques often struggle…
DexH2R: Task-oriented Dexterous Manipulation from Human to Robots
Shuqi Zhao, Xinghao Zhu, Yuxin Chen +5
Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and…
MEReQ: Max-Ent Residual-Q Inverse RL for Sample-Efficient Alignment from Intervention
Yuxin Chen, Chen Tang, Jianglan Wei +6
Aligning robot behavior with human preferences is crucial for deploying embodied AI agents in human-centered environments. A promising solution is interactive imitation learning fr…