4 papers
CR-VLA-Force: Learning Control-aware Compliance VLA Model for Robust Contact-rich Robotic Manipulation
Zhaohong Mai, Chao Wang, Chao Zeng +4
Integrating visuomotor policies or Vision-Language-Action (VLA) models with force/torque (F/T) perception has demonstrated significant progress in imitation learning for robotic ma…
HiL-ResRL: A Model-Agnostic Finetuning Adapter via Human-in-the-loop Residual Reinforcement Learning
Jingyi Liu, Zhaohong Mai, ShunSen He +5
Recent advancements in generative imitation learning have significantly propelled the field of robotic manipulation. However, the majority of existing models rely heavily on Behavi…
Foresee and Act Ahead: Task Prediction and Pre-Scheduling Enabled Efficient Robotic Warehousing
B. Cao, Z. Liu, X. Han +3
In warehousing systems, to enhance logistical efficiency amid surging demand volumes, much focus is placed on how to reasonably allocate tasks to robots. However, the robots labor…
ET-Plan-Bench: Embodied Task-level Planning Benchmark Towards Spatial-Temporal Cognition with Foundation Models
Lingfeng Zhang, Yuening Wang, Hongjian Gu +12
Recent advancements in Large Language Models (LLMs) have spurred numerous attempts to apply these technologies to embodied tasks, particularly focusing on high-level task planning…