5 papers · 1 filter
RTNav: Towards Real-Time Zero-Shot Object Navigation
Easop Lee, Lingyu Zhang, Boyuan Chen
Navigation in unknown environments to find unforeseen objects has become increasingly feasible with capable vision and language foundation models. However, these models also introd…
Learning Legged MPC with Smooth Neural Surrogates
Samuel A. Moore, Easop Lee, Boyuan Chen
Deep learning and model predictive control (MPC) can play complementary roles in legged robotics. However, integrating learned models with online planning remains challenging. When…
Sym2Real: Symbolic Dynamics with Residual Learning for Data-Efficient Adaptive Control
Easop Lee, Samuel A. Moore, Boyuan Chen
We present Sym2Real, a fully data-driven framework for highly data-efficient adaptation of low-level controllers. Although symbolic regression is data-efficient, its role in real-w…
Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies
Pingcheng Jian, Easop Lee, Zachary Bell +2
Vision-based imitation learning has shown promising capabilities of endowing robots with various motion skills given visual observation. However, current visuomotor policies fail t…
Policy Stitching: Learning Transferable Robot Policies
Pingcheng Jian, Easop Lee, Zachary Bell +2
Training robots with reinforcement learning (RL) typically involves heavy interactions with the environment, and the acquired skills are often sensitive to changes in task environm…