4 papers · 1 filter
Continual Quadruped Robots Coordination via Semantic Skill Discovery
Daoqing Wang, Yuchen Xiao, Weixuan Huang +5
Multi-quadruped coordination has attracted increasing attention due to its enhanced payload capacity, broader contact coverage, and improved adaptability to challenging tasks. Exis…
MARVL: Multi-Stage Guidance for Robotic Manipulation via Vision-Language Models
Xunlan Zhou, Xuanlin Chen, Shaowei Zhang +4
Designing dense reward functions is pivotal for efficient robotic Reinforcement Learning (RL). However, most dense rewards rely on manual engineering, which fundamentally limits th…
FOUNDER: Grounding Foundation Models in World Models for Open-Ended Embodied Decision Making
Yucen Wang, Rui Yu, Shenghua Wan +2
Foundation Models (FMs) and World Models (WMs) offer complementary strengths in task generalization at different levels. In this work, we propose FOUNDER, a framework that integrat…
SENSOR: Imitate Third-Person Expert's Behaviors via Active Sensoring
Kaichen Huang, Minghao Shao, Shenghua Wan +4
In many real-world visual Imitation Learning (IL) scenarios, there is a misalignment between the agent's and the expert's perspectives, which might lead to the failure of imitation…