4 papers
HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers
Lizhi Yang, Junheng Li, Nehar Poddar +5
For a humanoid robot to be deployed in the real world, the choice of command space (i.e., the interface between task planning and whole-body control) is crucial. Existing whole-bod…
Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulation
Yajvan Ravan, Adam Rashid, Alan Yu +8
We introduce Lucid-XR, a generative data engine for creating diverse and realistic-looking multi-modal data to train real-world robotic systems. At the core of Lucid-XR is vuer, a…
SpatialTraceGen: High-Fidelity Traces for Efficient VLM Spatial Reasoning Distillation
Gio Huh, Dhruv Sheth, Rayhan Zirvi +1
While Vision-Language Models (VLMs) excel in many areas, they struggle with complex spatial reasoning, which requires problem decomposition and strategic tool use. Fine-tuning smal…
Discovering Hidden Algebraic Structures via Transformers with Rank-Aware Beam GRPO
Jaeha Lee, Gio Huh, Ning Su +1
Recent efforts have extended the capabilities of transformers in logical reasoning and symbolic computations. In this work, we investigate their capacity for non-linear latent patt…