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cs.RO2026
CF-JEPA: Improving Robustness of JEPA World Models via Controllability Factorization
Morgan Byrd, Robert Wright, Sehoon Ha
Controlling an agent with vision requires being able to separate useful information from irrelevant background information. JEPA-style latent world models seem like a natural appro…
cs.RO2026
AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation
Morgan Byrd, Donghoon Baek, Kartik Garg +5
This paper presents Adaptive Whole-body Loco-Manipulation, AdaptManip, a fully autonomous framework for humanoid robots to perform integrated navigation, object lifting, and delive…
cs.RO2025
PrivilegedDreamer: Explicit Imagination of Privileged Information for Rapid Adaptation of Learned Policies
Morgan Byrd, Jackson Crandell, Mili Das +3
Numerous real-world control problems involve dynamics and objectives affected by unobservable hidden parameters, ranging from autonomous driving to robotic manipulation, which caus…