5 papers
Nudge Before You Push: Physics-Aware Navigation via Tactile Probing
Xianyao Li, Fang Xu, Ruitong Tian +4
Visually identical containers can conceal loads that require different handling decisions. We present TANav, which uses a brief nudge to measure push resistance for navigation unde…
PRISM: PRior-guided Imagination Sampling in world Models
Yuhai Wang, Jiawei Xia, Rongxuan Zhou +5
Latent world models learn representations that enable them to predict how actions change the environment - a capability we call physical intuition. We find that these same represen…
CausalGDP: Causality-Guided Diffusion Policies for Reinforcement Learning
Xiaofeng Xiao, Xiao Hu, Yang Ye +1
Reinforcement learning (RL) has achieved remarkable success in a wide range of sequential decision-making problems. Recent diffusion-based policies further improve RL by modeling c…
UniPrototype: Humn-Robot Skill Learning with Uniform Prototypes
Xiao Hu, Qi Yin, Yangming Shi +1
Data scarcity remains a fundamental challenge in robot learning. While human demonstrations benefit from abundant motion capture data and vast internet resources, robotic manipulat…
Tactile-based Reinforcement Learning for Adaptive Grasping under Observation Uncertainties
Xiao Hu, Yang Ye
Robotic manipulation in industrial scenarios such as construction commonly faces uncertain observations in which the state of the manipulating object may not be accurately captured…