2 citations · 2 across the 8 of their papers we have counts for
8 papers
RoboMP-DINOv2: Prompts, Not Filters for Robust Robot Manipulation
Han Qi, Heng Yang
Robot manipulation policies must generalize across visual shifts while preserving scene context relevant to action. General-purpose vision encoders are not tailored to visuomotor c…
X4Val: Learning Neural Surrogates for Variance-Reduced Policy Evaluation
Rachel Luo, Michael Watson, Apoorva Sharma +6
Rigorous evaluation of learning-based robotic systems is an essential prerequisite for deployment. However, real-world test data is expensive to gather; moreover, in a typical iter…
MoTVLA: A Vision-Language-Action Model with Unified Fast-Slow Reasoning
Wenhui Huang, Changhe Chen, Han Qi +3
Integrating visual-language instructions into visuomotor policies is gaining momentum in robot learning for enhancing open-world generalization. Despite promising advances, existin…
Compose by Focus: Scene Graph-based Atomic Skills
Han Qi, Changhe Chen, Heng Yang
A key requirement for generalist robots is compositional generalization - the ability to combine atomic skills to solve complex, long-horizon tasks. While prior work has primarily…
Inference-Time Enhancement of Generative Robot Policies via Predictive World Modeling
Han Qi, Haocheng Yin, Aris Zhu +2
We present Generative Predictive Control (GPC), an inference-time method for improving pretrained behavior-cloning policies without retraining. GPC augments a frozen diffusion poli…
Control-oriented Clustering of Visual Latent Representation
Han Qi, Haocheng Yin, Heng Yang
We initiate a study of the geometry of the visual representation space -- the information channel from the vision encoder to the action decoder -- in an image-based control pipelin…
CLOSURE: Fast Quantification of Pose Uncertainty Sets
Yihuai Gao, Yukai Tang, Han Qi +1
We investigate uncertainty quantification of 6D pose estimation from learned noisy measurements (e.g. keypoints and pose hypotheses). Assuming unknown-but-bounded measurement noise…
Latent Conservative Objective Models for Data-Driven Crystal Structure Prediction
Han Qi, Xinyang Geng, Stefano Rando +3
In computational chemistry, crystal structure prediction (CSP) is an optimization problem that involves discovering the lowest energy stable crystal structure for a given chemical…