5 papers
VIA: Visual Interface Agent for Robot Control
Hengyuan Hu, Priya Sundaresan, Jensen Gao +1
Robot manipulation is a complex task that requires visual understanding, physical reasoning, planning, and closed-loop control. General-purpose foundation models (FMs) have grown r…
Poly-EPO: Training Exploratory Reasoning Models
Ifdita Hasan Orney, Jubayer Ibn Hamid, Shreya S Ramanujam +5
Exploration is a cornerstone of learning from experience: it enables agents to find solutions to complex problems, generalize to novel ones, and scale performance with test-time co…
HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
Priya Sundaresan, Rhea Malhotra, Phillip Miao +7
We introduce HoMeR, an imitation learning framework for mobile manipulation that combines whole-body control with hybrid action modes that handle both long-range and fine-grained m…
Diffusion Models are Secretly Exchangeable: Parallelizing DDPMs via Autospeculation
Hengyuan Hu, Aniket Das, Dorsa Sadigh +1
Denoising Diffusion Probabilistic Models (DDPMs) have emerged as powerful tools for generative modeling. However, their sequential computation requirements lead to significant infe…
What's the Move? Hybrid Imitation Learning via Salient Points
Priya Sundaresan, Hengyuan Hu, Quan Vuong +2
While imitation learning (IL) offers a promising framework for teaching robots various behaviors, learning complex tasks remains challenging. Existing IL policies struggle to gener…