59 citations · 63 across the 5 of their papers we have counts for
4 papers · 1 filter
Improving Robotic Generalist Policies via Flow Reversal Steering
Andy Tang, William Chen, Andrew Wagenmaker +2
Generalist policies can learn a wide range of skills from diverse robot datasets. In order to solve or improve on challenging new tasks, we need a way to infer and invoke the appro…
Steerable Vision-Language-Action Policies for Embodied Reasoning and Hierarchical Control
William Chen, Jagdeep Singh Bhatia, Catherine Glossop +6
Pretrained vision-language models (VLMs) can make semantic and visual inferences across diverse settings, providing valuable common-sense priors for robotic control. However, effec…
Learning Long-Context Diffusion Policies via Past-Token Prediction
Marcel Torne, Andy Tang, Yuejiang Liu +1
Reasoning over long sequences of observations and actions is essential for many robotic tasks. Yet, learning effective long-context policies from demonstrations remains challenging…
Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models
Annie S. Chen, Alec M. Lessing, Andy Tang +4
Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a leg…