9 papers
CausalWAM: Learning the Causes of Actions in World Action Models
Juntao Cheng, Jinzhou Tang, Fan Feng +2
World action models (WAMs) learn latent variables from observations and use these to both predict the evolution of the scene and to generate actions. The prediction has to be of th…
DexFLEX: Contact-Aware Foundation Controller for Command-Guided Dexterity
Weikang Wan, Zeyu Lai, Jianyu Hou +4
Dexterous robot hands can receive useful motion intent from teleoperation or learned policies, but successful execution also depends on contact decisions that these commands rarely…
GOTT: Object-centric Dexterous Manipulation with a Reusable Cross-Embodiment Primitive
Yulin Liu, Lai Wei, Yen-Jen Wang +4
Foundation models and large-scale human data provide rich sources of manipulation intent, but translating this intent into multi-fingered robot behavior remains difficult. Dexterou…
Intelligence Across Embodiments
Bo Ai, Henrik I. Christensen, Hao Su
Robotic embodiment encompasses the sensing, kinematics, dynamics, geometry, actuation, and control through which an agent physically interacts with the world. These properties vary…
Rapid Embodiment Adaptation for Quadrupedal Locomotion
Dichen Li, Bo Ai, Nico Bohlinger +3
Humans readily adapt their movements as their bodies change through aging, injury, or load carrying, but learning-based robot policies often break when hardware properties shift. W…
Scaling Cross-Embodiment World Models for Dexterous Manipulation
Zihao He, Bo Ai, Tongzhou Mu +6
Cross-embodiment learning seeks to build generalist robots that learn from and operate across diverse morphologies, but differences in kinematics and action spaces hinder data shar…
Enhancing Generalization in Vision-Language-Action Models by Preserving Pretrained Representations
Shresth Grover, Akshay Gopalkrishnan, Bo Ai +3
Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across di…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Robust Surgical Tool Tracking with Pixel-based Probabilities for Projected Geometric Primitives
Christopher D'Ambrosia, Florian Richter, Zih-Yun Chiu +4
Controlling robotic manipulators via visual feedback requires a known coordinate frame transformation between the robot and the camera. Uncertainties in mechanical systems as well…