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Simple Agentic Memory for Generalist Robot Policies
Yuyou Zhang, Yunbei Zhang, Miao Li +4
Visual-memory systems commonly retain or compress past observations. Robot control additionally requires interaction-derived state that no individual frame may explicitly represent…
LIBERO-MAX: Do Robot Policies Adapt When the World Changes?
Yunbei Zhang, Zijian Jin, Yuanzhe Liu +14
Robots must often continue a task after a target moves, the viewpoint shifts, or an obstacle appears, even though their earlier observations and committed actions reflect the previ…
Bipedalism for Quadrupedal Robots: Versatile Loco-Manipulation through Risk-Adaptive Reinforcement Learning
Yuyou Zhang, Radu Corcodel, Ding Zhao
Loco-manipulation of quadrupedal robots has broadened robotic applications, but using legs as manipulators often compromises locomotion, while mounting arms complicates the system.…
CrashAgent: Crash Scenario Generation via Multi-modal Reasoning
Miao Li, Wenhao Ding, Haohong Lin +4
Training and evaluating autonomous driving algorithms requires a diverse range of scenarios. However, most available datasets predominantly consist of normal driving behaviors demo…
QuietPaw: Learning Quadrupedal Locomotion with Versatile Noise Preference Alignment
Yuyou Zhang, Yihang Yao, Shiqi Liu +7
When operating at their full capacity, quadrupedal robots can produce loud footstep noise, which can be disruptive in human-centered environments like homes, offices, and hospitals…
COMPOSER: Scalable and Robust Modular Policies for Snake Robots
Yuyou Zhang, Yaru Niu, Xingyu Liu +1
Snake robots have showcased remarkable compliance and adaptability in their interaction with environments, mirroring the traits of their natural counterparts. While their hyper-red…