6 papers
SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation
Changyuan Wang, Chubin Zhang, Zhenyu Wu +8
Embodied visuomotor models, including Diffusion Policy (DP) and Vision-Language-Action (VLA) models, have demonstrated promising performance on robotic manipulation benchmarks. How…
AllDayNav: Lifelong Navigation via Real-World Reinforcement Learning
Hang Yin, Yinan Liang, Jiazhao Zhang +4
Lifelong embodied navigation in dynamic environments requires robots to form persistent scene understanding from fragmentary observations, which remains difficult for existing meth…
GEM: Generative Supervision Helps Embodied Intelligence
Ruowen Zhao, Bangguo Li, Zuyan Liu +9
Embodied Vision-Language Models (VLMs) have demonstrated impressive performance and generalization in robotics, particularly within Vision-Language-Action frameworks. However, a si…
UniManip: General-Purpose Zero-Shot Robotic Manipulation with Agentic Operational Graph
Haichao Liu, Yuanjiang Xue, Yuheng Zhou +4
Achieving general-purpose robotic manipulation requires robots to seamlessly bridge high-level semantic intent with low-level physical interaction in unstructured environments. How…
MoTo: A Zero-shot Plug-in Interaction-aware Navigation for General Mobile Manipulation
Zhenyu Wu, Angyuan Ma, Xiuwei Xu +5
Mobile manipulation stands as a core challenge in robotics, enabling robots to assist humans across varied tasks and dynamic daily environments. Conventional mobile manipulation ap…
Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation
Cheng Pan, Hung Hon Cheng, Josie Hughes
Teleoperated robotic manipulators enable the collection of demonstration data, which can be used to train control policies through imitation learning. However, such methods can req…