6 papers · 1 filter
RayViT: Ray-Conditioned Visual Representations for Viewpoint-Robust Imitation Learning
Qian Wang, Longrui Chen, Peiran Sun +8
Visual imitation learning enables robots to acquire visuomotor skills directly from images, yet RGB observations lack explicit geometric cues, making learned policies brittle to ca…
Nautilus: From One Prompt to Plug-and-Play Robot Learning
Yufeng Jin, Jianfei Guo, Xiaogang Jia +8
Robot learning research is fragmented across policy families, benchmark suites, and real robots; each implementation is entangled with the others in a complex combination matrix, m…
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,…
MoRe-ERL: Learning Motion Residuals using Episodic Reinforcement Learning
Xi Huang, Hongyi Zhou, Ge Li +5
We propose MoRe-ERL, a framework that combines Episodic Reinforcement Learning (ERL) and residual learning, which refines preplanned reference trajectories into safe, feasible, and…
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…
BMP: Bridging the Gap between B-Spline and Movement Primitives
Weiran Liao, Ge Li, Hongyi Zhou +2
This work introduces B-spline Movement Primitives (BMPs), a new Movement Primitive (MP) variant that leverages B-splines for motion representation. B-splines are a well-known conce…