4 citations · 7 across the 7 of their papers we have counts for
7 papers · 1 filter
Ordered Action Tokens for Visuomotor Policy Learning
Chaoqi Liu, Yue Zhao, Haonan Chen +4
Action tokenization maps continuous robot action chunks to discrete tokens and has become an important interface for modern visuomotor policies. Existing approaches either rely on…
IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation
Jiawei Gao, Chaoqi Liu, Peilin Wu +2
Real-world robotic manipulation tasks often involve forceful interactions with the environment, such as using tools of varying weights, transporting objects with different masses,…
OAT: Ordered Action Tokenization
Chaoqi Liu, Xiaoshen Han, Jiawei Gao +3
Autoregressive policies offer a compelling foundation for scalable robot learning by enabling discrete abstraction, token-level reasoning, and flexible inference. However, applying…
SIMPACT: Simulation-Enabled Action Planning using Vision-Language Models
Haowen Liu, Shaoxiong Yao, Haonan Chen +4
Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation…
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
Tairan He, Jiawei Gao, Wenli Xiao +15
Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a s…
CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamics
Jiawei Gao, Ziqin Wang, Zeqi Xiao +7
Enabling humanoid robots to clean rooms has long been a pursued dream within humanoid research communities. However, many tasks require multi-humanoid collaboration, such as carryi…
Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response
Junfeng Long, Zirui Wang, Quanyi Li +3
Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation p…