5 papers
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…
Prompt-Driven Exploration: Language as an Exploration Space for VLA Reinforcement Learning
Sunshine Jiang, John Marangola, David Zhang +6
Exploration is essential to RL since a policy cannot improve by repeatedly sampling the behaviors it already prefers. Standard methods inject stochasticity in the action space, but…
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…
Constraints on the perfect phylogeny mixture model and their effect on reducing degeneracy
John Marangola, Azadeh Sheikholeslami, José Bento
The perfect phylogeny mixture (PPM) model is useful due to its simplicity and applicability in scenarios where mutations can be assumed to accumulate monotonically over time. It is…
DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
Martin Peticco, Gabriella Ulloa, John Marangola +2
Development of dexterous manipulation hardware has primarily focused on hands and grippers. However, these end-effectors are often paired with bulky and highly stiff wrists that li…