5 papers · 1 filter
PRISM: Precision Forcing for Generalist Vision-Language-Action Policies
Chenghao Yue, Peiyan Li, Hao Wang +5
Coupling a pretrained vision-language model (VLM) with a diffusion or flow-matching action expert has become the mainstream vision-language-action (VLA) paradigm for embodied polic…
TimelyDAgger: Timing-Aware Expert Querying for VLA Policy Improvement
Zhixuan Zhao, Peiyan Li, Enhao Zhang +10
DAgger improves robot policies by aggregating expert supervision from states visited during policy execution. Robot-gated DAgger automates expert queries, allowing the robot to dec…
Beyond State-as-Action: Exploiting Command-State Discrepancy for Robot Imitation Learning
Peiyan Li, Yueran Tao, Enhao Zhang +10
Constructing action targets from measured robot motion is an established approach in imitation learning. Under interaction constraints, however, command-state discrepancy may refle…
Periodic Steady-State Control of a Handkerchief-Spinning Task Using a Parallel Anti-Parallelogram Tendon-driven Wrist
Lei Liu, Haonan Zhang, Huahang Xu +8
Spinning flexible objects, exemplified by traditional Chinese handkerchief performances, demands periodic steady-state motions under nonlinear dynamics with frictional contacts and…
Multi-segment Soft Robot Control via Deep Koopman-based Model Predictive Control
Lei Lv, Lei Liu, Lei Bao +7
Soft robots, compared to regular rigid robots, as their multiple segments with soft materials bring flexibility and compliance, have the advantages of safe interaction and dexterou…