1 citations · 2 across the 8 of their papers we have counts for
5 papers · 1 filter
Boosting Transferable Adversarial Attacks against Deep Reinforcement Learning
Zexin Li, Ruili Yao, Yiming Zeng +1
Most adversarial attacks on deep reinforcement learning (DRL) assume white-box access to the victim policy, which rarely holds in practice. This paper studies transfer-based black-…
HIL-UMI: Bringing Human-in-the-Loop Post-Training of Vision-Language-Action Models to Universal Manipulation Interface
Zimu Han, Yiming Zeng, Jiyao Zhang +9
Large-scale vision-language-action (VLA) models provide powerful priors for robot manipulation, yet adapting them to a specific deployment remains challenging. Supervised fine-tuni…
X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching
Tianyu Yang, Yiming Zeng, Wenzhe Cai +5
Pretraining navigation diffusion policies rely on large-scale expert demonstrations. These data are typically generated by a fully-informed oracle planner suited to a single nomina…
Fisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control
Hao Ren, Zetong Bi, Yiming Zeng +5
Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when up…
STRNet: Visual Navigation with Spatio-Temporal Representation through Dynamic Graph Aggregation
Hao Ren, Zetong Bi, Yiming Zeng +3
Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches hav…