3 papers
cs.RO2025
XRoboToolkit: A Cross-Platform Framework for Robot Teleoperation
Zhigen Zhao, Liuchuan Yu, Ke Jing +1
The rapid advancement of Vision-Language-Action models has created an urgent need for large-scale, high-quality robot demonstration datasets. Although teleoperation is the predomin…
cs.LG2025
TW-CRL: Time-Weighted Contrastive Reward Learning for Efficient Inverse Reinforcement Learning
Yuxuan Li, Yicheng Gao, Ning Yang +1
Episodic tasks in Reinforcement Learning (RL) often pose challenges due to sparse reward signals and high-dimensional state spaces, which hinder efficient learning. Additionally, t…
cs.LG2025
Fine-tuning Diffusion Policies with Backpropagation Through Diffusion Timesteps
Ningyuan Yang, Jiaxuan Gao, Feng Gao +2
Diffusion policies, widely adopted in decision-making scenarios such as robotics, gaming and autonomous driving, are capable of learning diverse skills from demonstration data due…