6 papers · 1 filter
Cognitive Action Reasoning for Proactive Robots from Human-Centered Multimodal Observations
Zhihao Gu, Kechao Zhu, Yuanfeng Wu +7
Robots operating in human-centered environments are typically designed to execute explicit instructions, and most robot-learning datasets likewise pair observations with task instr…
VistaVLA: Geometry- and Semantic-Aware 3D Gaussian-Grounded VLA for Robotic Manipulation
Mohan Liu, Zhihao Gu, Xuanyu Chen +5
Vision-Language-Action (VLA) models have emerged as a powerful end-to-end paradigm for robotic manipulation by mapping language instructions and 2D visual inputs directly to action…
Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains
Xuanyu Chen, Mohan Liu, Dengchen Mei +6
Model-free reinforcement learning has enabled impressive humanoid locomotion; however, control on steep slopes remains largely unexplored. Unlike flat or discrete terrains, sloped…
LiMoDE: Rethinking Lifelong Robot Manipulation from a Mixture-of-Dynamic-Experts Perspective
Zhihao Gu, Lin Wang
Building a generalist robot that can leverage prior knowledge for continuous task adaptation remains a significant challenge. Previous works alleviate the catastrophic forgetting p…
Physics-Informed Policy Optimization via Analytic Dynamics Regularization
Namai Chandra, Liu Mohan, Zhihao Gu +1
Reinforcement learning (RL) has achieved strong performance in robotic control; however, state-of-the-art policy learning methods, such as actor-critic methods, still suffer from h…
Learning Diffusion Policy from Primitive Skills for Robot Manipulation
Zhihao Gu, Ming Yang, Difan Zou +1
Diffusion policies (DP) have recently shown great promise for generating actions in robotic manipulation. However, existing approaches often rely on global instructions to produce…