5 papers
ASH: Agents that Self-Hone in Long-Horizon Worlds
Benjamin Schneider, Xavier Schneider, Victor Zhong +1
Long-horizon visuomotor tasks remain a fundamental challenge in AI, as current methods rely on hand-engineered rewards or action-labeled demonstrations, neither of which scales. We…
Symskill: Symbol and Skill Co-Invention for Data-Efficient and Reactive Long-Horizon Manipulation
Yifei Simon Shao, Yuchen Zheng, Sunan Sun +3
Multi-step manipulation in dynamic environments remains challenging. Imitation learning (IL) is reactive but lacks compositional generalization, since monolithic policies do not de…
Elastic Motion Policy: An Adaptive Dynamical System for Robust and Efficient One-Shot Imitation Learning
Tianyu Li, Sunan Sun, Shubhodeep Shiv Aditya +1
Behavior cloning (BC) has become a staple imitation learning paradigm in robotics due to its ease of teaching robots complex skills directly from expert demonstrations. However, BC…
SE(3) Linear Parameter Varying Dynamical Systems for Globally Asymptotically Stable End-Effector Control
Sunan Sun, Nadia Figueroa
Linear Parameter Varying Dynamical Systems (LPV-DS) encode trajectories into an autonomous first-order DS that enables reactive responses to perturbations, while ensuring globally…
Directionality-Aware Mixture Model Parallel Sampling for Efficient Linear Parameter Varying Dynamical System Learning
Sunan Sun, Haihui Gao, Tianyu Li +1
The Linear Parameter Varying Dynamical System (LPV-DS) is an effective approach that learns stable, time-invariant motion policies using statistical modeling and semi-definite opti…