10 papers
Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning
Shilin Shan, Chuhao Zhou, Ruize Wang +30
Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical…
LLM-as-a-Verifier: A General-Purpose Verification Framework
Jacky Kwok, Shulu Li, Pranav Atreya +6
Scaling pre-training, post-training, and test-time compute have become the central paradigms for improving the capabilities of LLMs. In this work, we identify verification, the abi…
DREAM-Chunk: Reactive Action Chunking with Latent World Model
Wenxi Chen, Kaidi Zhang, Chi Lin +6
Action chunking has become a common interface for vision-language-action (VLA) models, enabling low-frequency policy inference to drive high-frequency robot execution. However, onc…
World Action Verifier: Self-Improving World Models via Forward-Inverse Asymmetry
Yuejiang Liu, Fan Feng, Lingjing Kong +6
General-purpose world models promise scalable policy evaluation, optimization, and planning, yet achieving the required level of robustness remains challenging. Unlike policy learn…
RoboMME: Benchmarking and Understanding Memory for Robotic Generalist Policies
Yinpei Dai, Hongze Fu, Jayjun Lee +6
Memory is critical for long-horizon and history-dependent robotic manipulation. Such tasks often involve counting repeated actions or manipulating objects that become temporarily o…
Scaling Verification Can Be More Effective than Scaling Policy Learning for Vision-Language-Action Alignment
Jacky Kwok, Xilun Zhang, Mengdi Xu +4
The long-standing vision of general-purpose robots hinges on their ability to understand and act upon natural language instructions. Vision-Language-Action (VLA) models have made r…
Self-Guided Action Diffusion
Rhea Malhotra, Yuejiang Liu, Chelsea Finn
Recent works have shown the promise of inference-time search over action samples for improving generative robot policies. In particular, optimizing cross-chunk coherence via bidire…
Learning Long-Context Diffusion Policies via Past-Token Prediction
Marcel Torne, Andy Tang, Yuejiang Liu +1
Reasoning over long sequences of observations and actions is essential for many robotic tasks. Yet, learning effective long-context policies from demonstrations remains challenging…
Curating Demonstrations using Online Experience
Annie S. Chen, Alec M. Lessing, Yuejiang Liu +1
Many robot demonstration datasets contain heterogeneous demonstrations of varying quality. This heterogeneity may benefit policy pre-training, but can hinder robot performance when…
Bidirectional Decoding: Improving Action Chunking via Guided Test-Time Sampling
Yuejiang Liu, Jubayer Ibn Hamid, Annie Xie +3
Predicting and executing a sequence of actions without intermediate replanning, known as action chunking, is increasingly used in robot learning from human demonstrations. Yet, its…