1 citations · 3 across the 5 of their papers we have counts for
8 papers
From Rollout to Reset: A Graph-Based Harness for Autonomous Long-Horizon Manipulation Evaluation
Jing Jiang, Yue Yang, Xinkai Jiang +3
Robot manipulation policies are improving quickly, and real-robot evaluation remains the standard evidence for that progress. It still relies on a human to reset the scene between…
DAM-VLA: Decoupled Asynchronous Multimodal Vision Language Action model
Pankhuri Vanjani, Zhuoyue Li, Jakub Suliga +4
Vision-language-action (VLA) models inherit a shared synchronous clock from vision-language pretraining, processing every input at one rate. This is misaligned with physical intera…
PointMapPolicy: Structured Point Cloud Processing for Multi-Modal Imitation Learning
Xiaogang Jia, Qian Wang, Anrui Wang +12
Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure,…
BEAST: Efficient Tokenization of B-Splines Encoded Action Sequences for Imitation Learning
Hongyi Zhou, Weiran Liao, Xi Huang +11
We present the B-spline Encoded Action Sequence Tokenizer (BEAST), a novel action tokenizer that encodes action sequences into compact discrete or continuous tokens using B-splines…
Beyond Visuals: Investigating Force Feedback in Extended Reality for Robot Data Collection
Xueyin Li, Xinkai Jiang, Philipp Dahlinger +2
This work explores how force feedback affects various aspects of robot data collection within the Extended Reality (XR) setting. Force feedback has been proved to enhance the user…
IRIS: An Immersive Robot Interaction System
Xinkai Jiang, Qihao Yuan, Enes Ulas Dincer +11
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challen…
TOP-ERL: Transformer-based Off-Policy Episodic Reinforcement Learning
Ge Li, Dong Tian, Hongyi Zhou +3
This work introduces Transformer-based Off-Policy Episodic Reinforcement Learning (TOP-ERL), a novel algorithm that enables off-policy updates in the ERL framework. In ERL, policie…
Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrations
Xiaogang Jia, Denis Blessing, Xinkai Jiang +4
Imitation learning with human data has demonstrated remarkable success in teaching robots in a wide range of skills. However, the inherent diversity in human behavior leads to the…