4 papers
PrimitiveVLA: Learning Reusable Motion Primitives for Efficient and Generalizable Robotic Manipulation
Yutai Li, Shaohui Peng, Jiaming Guo +8
Vision-Language-Action (VLA) models offer a promising paradigm for generalist robotic policies, yet their adaptation is hindered by data inefficiency and poor generalization. We ar…
Efficient Diffusion Planning with Temporal Diffusion
Jiaming Guo, Rui Zhang, Zerun Li +7
Diffusion planning is a promising method for learning high-performance policies from offline data. To avoid the impact of discrepancies between planning and reality on performance,…
Policy Constraint by Only Support Constraint for Offline Reinforcement Learning
Yunkai Gao, Jiaming Guo, Fan Wu +1
Offline reinforcement learning (RL) aims to optimize a policy by using pre-collected datasets, to maximize cumulative rewards. However, offline reinforcement learning suffers chall…
Prompt-based Visual Alignment for Zero-shot Policy Transfer
Haihan Gao, Rui Zhang, Qi Yi +13
Overfitting in RL has become one of the main obstacles to applications in reinforcement learning(RL). Existing methods do not provide explicit semantic constrain for the feature ex…