6 papers
Steering Autoregressive Vision-Language-Action Policies via Action Token Intervention
Jason Chan, Jonathan C. Kao
We present Token Steering (TS), a method for dynamically steering trajectories generated by an autoregressive vision-language-action (VLA) model through direct intervention in the…
Flow Control: Steering Vision-Language-Action Models with Simple Real-Time Inputs
Jonathan C. Kao, Jason Chan, Andy Wang
We introduce flow control of vision-language-action (VLA) models, a simple and effective way to steer VLA actions in real-time through generic inputs, such as a keyboard. This meth…
Intent at a Glance: Gaze-Guided Robotic Manipulation via Foundation Models
Tracey Yee Hsin Tay, Xu Yan, Jonathan Ouyang +4
Designing intuitive interfaces for robotic control remains a central challenge in enabling effective human-robot interaction, particularly in assistive care settings. Eye gaze offe…
Flattening Hierarchies with Policy Bootstrapping
John L. Zhou, Jonathan C. Kao
Offline goal-conditioned reinforcement learning (GCRL) is a promising approach for pretraining generalist policies on large datasets of reward-free trajectories, akin to the self-s…
LowKeyEMG: Electromyographic typing with a reduced keyset
Johannes Y. Lee, Derek Xiao, Shreyas Kaasyap +6
We introduce LowKeyEMG, a real-time human-computer interface that enables efficient text entry using only 7 gesture classes decoded from surface electromyography (sEMG). Prior work…
Reciprocal Reward Influence Encourages Cooperation From Self-Interested Agents
John L. Zhou, Weizhe Hong, Jonathan C. Kao
Cooperation between self-interested individuals is a widespread phenomenon in the natural world, but remains elusive in interactions between artificially intelligent agents. Instea…