3 papers
cs.RO2026
XRZero-G0: Pushing the Frontier of Dexterous Robotic Manipulation with Interfaces, Quality and Ratios
James Wang, Primo Pu, Zephyr Fung +19
The acquisition of high-quality, action-aligned demonstration data remains a fundamental bottleneck in scaling foundation models for dexterous robot manipulation. Although robot-fr…
cs.RO2025
DiLQR: Differentiable Iterative Linear Quadratic Regulator via Implicit Differentiation
Shuyuan Wang, Philip D. Loewen, Michael Forbes +2
While differentiable control has emerged as a powerful paradigm combining model-free flexibility with model-based efficiency, the iterative Linear Quadratic Regulator (iLQR) remain…
cs.RO2024
Guiding Reinforcement Learning with Incomplete System Dynamics
Shuyuan Wang, Jingliang Duan, Nathan P. Lawrence +4
Model-free reinforcement learning (RL) is inherently a reactive method, operating under the assumption that it starts with no prior knowledge of the system and entirely depends on…