4 papers
Learning to Absorb Corrections: Critic-Weighted Residual Flow for Vision-Based Insertion
Yiqing Yuan, Zhi Li, Jinrong Yang +5
Vision-based insertion requires correcting alignment errors while retaining useful behavior learned from demonstrations. We present ACT--Flow, an online learning framework that cou…
The Lie We Tell: Correcting the Euclidean Fallacy in Vision Language Action Policies via Score Matching on Tangent Space
Bing-Cheng Chuang, I-Hsuan Chu, Bor-Jiun Lin +3
Diffusion-based Vision-Language-Action policies achieve remarkable success in robotic manipulation, yet commit a fundamental geometric error we term the $\textbf{Euclidean Fallacy}…
SAM2Grasp: Resolve Multi-modal Grasping via Prompt-conditioned Temporal Action Prediction
Shengkai Wu, Jinrong Yang, Wenqiu Luo +7
Imitation learning for robotic grasping is often plagued by the multimodal problem: when a scene contains multiple valid targets, demonstrations of grasping different objects creat…
Bootstrapping Imitation Learning for Long-horizon Manipulation via Hierarchical Data Collection Space
Jinrong Yang, Kexun Chen, Zhuoling Li +9
Imitation learning (IL) with human demonstrations is a promising method for robotic manipulation tasks. While minimal demonstrations enable robotic action execution, achieving high…