1 citations · 1 across the 2 of their papers we have counts for
5 papers
PRISM: Precision Forcing for Generalist Vision-Language-Action Policies
Chenghao Yue, Peiyan Li, Hao Wang +5
Coupling a pretrained vision-language model (VLM) with a diffusion or flow-matching action expert has become the mainstream vision-language-action (VLA) paradigm for embodied polic…
TimelyDAgger: Timing-Aware Expert Querying for VLA Policy Improvement
Zhixuan Zhao, Peiyan Li, Enhao Zhang +10
DAgger improves robot policies by aggregating expert supervision from states visited during policy execution. Robot-gated DAgger automates expert queries, allowing the robot to dec…
Beyond State-as-Action: Exploiting Command-State Discrepancy for Robot Imitation Learning
Peiyan Li, Yueran Tao, Enhao Zhang +10
Constructing action targets from measured robot motion is an established approach in imitation learning. Under interaction constraints, however, command-state discrepancy may refle…
RoboChemist: Long-Horizon and Safety-Compliant Robotic Chemical Experimentation
Zongzheng Zhang, Chenghao Yue, Haobo Xu +5
Robotic chemists promise to both liberate human experts from repetitive tasks and accelerate scientific discovery, yet remain in their infancy. Chemical experiments involve long-ho…
TA-VLA: Elucidating the Design Space of Torque-aware Vision-Language-Action Models
Zongzheng Zhang, Haobo Xu, Zhuo Yang +5
Many robotic manipulation tasks require sensing and responding to force signals such as torque to assess whether the task has been successfully completed and to enable closed-loop…