2 papers
cs.RO2025
Invariance Co-training for Robot Visual Generalization
Jonathan Yang, Chelsea Finn, Dorsa Sadigh
Reasoning from diverse observations is a fundamental capability for generalist robot policies to operate in a wide range of environments. Despite recent advancements, many large-sc…
cs.RO2025
Bridging Perception and Action: Spatially-Grounded Mid-Level Representations for Robot Generalization
Jonathan Yang, Chuyuan Kelly Fu, Dhruv Shah +3
In this work, we investigate how spatially grounded auxiliary representations can provide both broad, high-level grounding as well as direct, actionable information to improve poli…