1 citations · 1 across the 8 of their papers we have counts for
10 papers
ALIGN: Aligning Condition Estimation and Expression in Advantage-Conditioned Behavior Cloning
Zechen Wang, Zhenqi Qiu, Houlong Xiong +8
Human-collected robot manipulation data often mix successful behavior with retries, pauses, recoveries, and failures. Advantage-Conditioned Behavior Cloning (AC-BC) can exploit suc…
BlenDAgger: Blended Shared Control for Interactive Imitation Learning
Cailyn Smith, Geoffrey Sun, Henny Admoni +1
Robot policies are frequently trained from human corrections, yet teleoperating a robot to provide corrections is burdensome, and human demonstrators are not always optimal. We pro…
PRIMAL3: Pathfinding via Reinforcement and Imitation Multi-Agent Learning - Leveraging LaCAM3
Chengyang He, Tanishq Duhan, Gadiel Sznaier Camps +6
We present PRIMAL3, an ultra-large-scale learning-based framework for multi-agent pathfinding (MAPF) that integrates reinforcement learning, topology-aware communication, LaCAM3-gu…
FALCON: Actively Decoupled Visuomotor Policies for Loco-Manipulation with Foundation-Model-Based Coordination
Chengyang He, Ge Sun, Yue Bai +3
We present FoundAtion-model-guided decoupled LoCO-maNipulation visuomotor policies (FALCON), a framework for loco-manipulation that combines modular diffusion policies with a visio…
MGTraj: Multi-Granularity Goal-Guided Human Trajectory Prediction with Recursive Refinement Network
Ge Sun, Jun Ma
Accurate human trajectory prediction is crucial for robotics navigation and autonomous driving. Recent research has demonstrated that incorporating goal guidance significantly enha…
HeLoM: Hierarchical Learning for Whole-Body Loco-Manipulation by a Hexapod Robot
Xinrong Yang, Peizhuo Li, Hongyi Li +8
In nature, animals often need to move/manipulate objects comparable in weight/size to their own bodies. Compared to grasping and carrying, pushing provides a more straightforward a…
The Athenian Academy: A Seven-Layer Architecture Model for Multi-Agent Systems
Lidong Zhai, Zhijie Qiu, Lvyang Zhang +5
This paper proposes the "Academy of Athens" multi-agent seven-layer framework, aimed at systematically addressing challenges in multi-agent systems (MAS) within artificial intellig…
SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning
Peizhuo Li, Hongyi Li, Ge Sun +7
Despite recent advances in learning-based controllers for legged robots, deployments in human-centric environments remain limited by safety concerns. Most of these approaches use p…
Learning-based Hierarchical Control: Emulating the Central Nervous System for Bio-Inspired Legged Robot Locomotion
Ge Sun, Milad Shafiee, Peizhuo Li +3
Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in th…
DecAP: Decaying Action Priors for Accelerated Imitation Learning of Torque-Based Legged Locomotion Policies
Shivam Sood, Ge Sun, Peizhuo Li +1
Optimal Control for legged robots has gone through a paradigm shift from position-based to torque-based control, owing to the latter's compliant and robust nature. In parallel to t…