3 papers
cs.RO2026
SeeTraceAct: Visibility-Aware Latent Planning from Cross-Embodiment Demonstration Videos
Jaehyeon Son, Junhyun Kim, Kyle Kam +7
Vision-language-action models (VLAs) are promising general-purpose robot policies, but adapting them to new tasks typically requires costly task-specific teleoperation data. As an…
cs.CV2026
Sim2real Image Translation Enables Viewpoint-Robust Policies from Fixed-Camera Datasets
Jeremiah Coholich, Justin Wit, Robert Azarcon +1
Vision-based policies for robot manipulation have achieved significant recent success, but are still brittle to distribution shifts such as camera viewpoint variations. Robot demon…
cs.RO2025
Hierarchical Reinforcement Learning and Value Optimization for Challenging Quadruped Locomotion
Jeremiah Coholich, Muhammad Ali Murtaza, Seth Hutchinson +1
We propose a novel hierarchical reinforcement learning framework for quadruped locomotion over challenging terrain. Our approach incorporates a two-layer hierarchy in which a high-…