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cs.RO2025
Reimagination with Test-time Observation Interventions: Distractor-Robust World Model Predictions for Visual Model Predictive Control
Yuxin Chen, Jianglan Wei, Chenfeng Xu +4
World models enable robots to "imagine" future observations given current observations and planned actions, and have been increasingly adopted as generalized dynamics models to fac…
cs.RO2025
Interleave-VLA: Enhancing Robot Manipulation with Interleaved Image-Text Instructions
Cunxin Fan, Xiaosong Jia, Yihang Sun +8
The rise of foundation models paves the way for generalist robot policies in the physical world. Existing methods relying on text-only instructions often struggle to generalize to…
cs.RO2024
MEReQ: Max-Ent Residual-Q Inverse RL for Sample-Efficient Alignment from Intervention
Yuxin Chen, Chen Tang, Jianglan Wei +6
Aligning robot behavior with human preferences is crucial for deploying embodied AI agents in human-centered environments. A promising solution is interactive imitation learning fr…