4 papers · 1 filter
Sample-Efficient Reinforcement Learning for Policy Improvement via Flow-Reversed Action Anchors
Carl Qi, Weijun Dong, Xiaojie Wang +8
Generalist robot policies offer strong behavioral priors, but achieving deployment-level reliability and throughput remains difficult. Reinforcement learning (RL) can improve these…
LIMBO: Learning and Internalizing Model-Free Barrier Objectives for Agile and Safe Whole-Body Control
Jake Gonzales, Arturo Flores Alvarez, Yu-Ming Chen +3
Safe whole-body control requires coordinating collision avoidance and balance under high-dimensional, nonlinear dynamics--making safety certificates difficult to design and reuse a…
Safe Probabilistic Planning for Human-Robot Interaction using Conformal Risk Control
Jake Gonzales, Kazuki Mizuta, Karen Leung +1
In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to pro…
TOPReward: Token Probabilities as Hidden Zero-Shot Rewards for Robotics
Shirui Chen, Cole Harrison, Ying-Chun Lee +6
General-purpose robot learning requires dense, instruction-conditioned feedback that can distinguish meaningful task progress from stalled, failed, or partially completed behavior.…