5 papers · 1 filter
Latent-Space Importance Weighting under Covariate Shift
Yuling Jiao, Lican Kang, Yang Xiang +2
In this work, we propose a transfer learning algorithm for covariate shift, integrating sample reweighting with representation learning. A key feature of our approach is the use of…
PA-BiCoop: A Primary-Auxiliary Cooperative Framework for General Bimanual Manipulation
Bai Qicheng, Wang Ziru, Ma Teli +3
Bimanual manipulation is essential for advanced robotic systems because it offers higher efficiency and flexibility compared to single-arm configurations. However, existing approac…
Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain
Zifan Wang, Yizhao Li, Teli Ma +5
Humanoid behavior foundation models aim to acquire reusable whole-body control policies from broad human motion priors, enabling a single controller to produce diverse and expressi…
MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation
Jia Zheng, Teli Ma, Yudong Fan +3
World Action Models (WAMs) couple a video dynamics prior to the policy and have shown encouraging results on tabletop manipulation, but iterative denoising over high-dimensional vi…
DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Control
Teli Ma, Jia Zheng, Zifan Wang +4
Vision-Language-Action (VLA) models have emerged as a promising paradigm for robot learning, but their representations are still largely inherited from static image-text pretrainin…