5 citations · 17 across the 31 of their papers we have counts for
4 papers · 1 filter
Compliant GMT: Making General Motion Tracking Compliant via Residual Reference Adaptation
Venki Parsuram, Michelle Wang, Jin-Hyuk Hong +1
We propose Compliant GMT (C-GMT), a modular framework for full-body compliant responses in general motion tracking. As humanoid robots move into real world deployment, they not onl…
Contact-UAN: Unsupervised Actuator Networks as a Residual World Model for Humanoid Control
Nolan Fey, Khai Nguyen, Yash Prabhu +2
Humanoid policies trained in simulation can transfer qualitatively to hardware while failing to transfer the force interactions learned during training, compromising torque efficie…
Workspace Models: Lightweight Robotic Memory via Saliency-Driven Supervision
Nitish Dashora, Douglas Chen, Idan Shenfeld +3
Complex robotic manipulation tasks frequently require a long-term memory of past events and actions. As conditioning on full histories renders policies prone to spurious correlatio…
Learning from Hindsight for VLA Reinforcement Learning
Iris Xu, Sunshine Jiang, John Marangola +8
Reinforcement learning is increasingly used to fine-tune vision-language-action (VLA) models, but robot interaction is expensive and learning becomes highly sample inefficient when…