4 papers
PRISM: PRior-guided Imagination Sampling in world Models
Yuhai Wang, Jiawei Xia, Rongxuan Zhou +4
A learned world model provides a powerful physical intuition for evaluating future states. But its effectiveness in continuous control also depends critically on how candidate acti…
UniPrototype: Humn-Robot Skill Learning with Uniform Prototypes
Xiao Hu, Qi Yin, Yangming Shi +1
Data scarcity remains a fundamental challenge in robot learning. While human demonstrations benefit from abundant motion capture data and vast internet resources, robotic manipulat…
CausalGDP: Causality-Guided Diffusion Policies for Reinforcement Learning
Xiaofeng Xiao, Xiao Hu, Yang Ye +1
Reinforcement learning (RL) has achieved remarkable success in a wide range of sequential decision-making problems. Recent diffusion-based policies further improve RL by modeling c…
Tactile-based Reinforcement Learning for Adaptive Grasping under Observation Uncertainties
Xiao Hu, Yang Ye
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured…