6 papers
Dissecting Embodied Abilities in Multimodal Language Models through Skill-level Evaluation and Diagnosis
Yu Qi, Haibo Zhao, Ziyu Guo +17
Understanding the capability bottlenecks of embodied multimodal large language models (MLLMs) is crucial for improving embodied agents. However, existing embodied benchmarks mainly…
Residual Rotation Correction using Tactile Equivariance
Yizhe Zhu, Zhang Ye, Boce Hu +4
Visuotactile policy learning augments vision-only policies with tactile input, facilitating contact-rich manipulation. However, the high cost of tactile data collection makes sampl…
Generalizable Hierarchical Skill Learning via Object-Centric Representation
Haibo Zhao, Yu Qi, Boce Hu +9
We present Generalizable Hierarchical Skill Learning (GSL), a novel framework for hierarchical policy learning that significantly improves policy generalization and sample efficien…
CO-OPERA: A Human-AI Collaborative Playwriting Tool to Support Creative Storytelling for Interdisciplinary Drama Education
Xuejiao Ma, Haibo Zhao, Zinuo Guo +3
Drama-in-education is an interdisciplinary instructional approach that integrates subjects such as language, history, and psychology. Its core component is playwriting. Based on ne…
Argus: Federated Non-convex Bilevel Learning over 6G Space-Air-Ground Integrated Network
Ya Liu, Kai Yang, Yu Zhu +2
The space-air-ground integrated network (SAGIN) has recently emerged as a core element in the 6G networks. However, traditional centralized and synchronous optimization algorithms…
Hierarchical Equivariant Policy via Frame Transfer
Haibo Zhao, Dian Wang, Yizhe Zhu +6
Recent advances in hierarchical policy learning highlight the advantages of decomposing systems into high-level and low-level agents, enabling efficient long-horizon reasoning and…