7 papers · 1 filter
TraceFlow: Guiding Frozen Flow-Matching Robot Policies with Success and Failure Traces
Jiaxuan Zhang, Ruizhe Liu, Yu Zhang +1
A vision-language-action (VLA) policy with a flow-matching action expert generates each action chunk (a short command sequence) by integrating a learned velocity field; once its we…
The Imitator Game: Benchmarking Robot Imitative Ability Beyond Action Prediction
Xunzhe Zhou, Yiyang Cai, Fengyi Wang +9
Humans imitate at the level of intent: given a demonstration, we infer its goal and carry it out with whatever tools, objects, and layouts are at hand. Current robot policies inste…
Geometry-Aware Motion Latents for Learning Robust Manipulation Policies
Yunchao Zhang, Yijia Weng, Ruizhe Liu +3
Learning motion latents for robotic manipulation heavily relies on extracting motion patterns from visual sequences, yet effective action abstractions require understanding three-d…
Geometric Entropy: When Trajectory Diversity Helps and Hurts in Imitation Learning
Qian Luo, Ruizhe Liu, Pei Zhou +2
We study how trajectory-shape diversity in demonstrations affects imitation learning (IL) performance across models, tasks, and data scales. We introduce Geometric Entropy (H_G), a…
HiMaCon: Discovering Hierarchical Manipulation Concepts from Unlabeled Multi-Modal Data
Ruizhe Liu, Pei Zhou, Qian Luo +4
Effective generalization in robotic manipulation requires representations that capture invariant patterns of interaction across environments and tasks. We present a self-supervised…
HyperTASR: Hypernetwork-Driven Task-Aware Scene Representations for Robust Manipulation
Li Sun, Jiefeng Wu, Feng Chen +2
Effective policy learning for robotic manipulation requires scene representations that selectively capture task-relevant environmental features. Current approaches typically employ…
InfoCon: Concept Discovery with Generative and Discriminative Informativeness
Ruizhe Liu, Qian Luo, Yanchao Yang
We focus on the self-supervised discovery of manipulation concepts that can be adapted and reassembled to address various robotic tasks. We propose that the decision to conceptuali…