4 papers · 1 filter
An Integrated Open-Source Stack for Vision-Based Autonomous Navigation of Wheeled Rovers
Iaroslav Kolomiets, Iaroslav Sheipak, Mikhail Reppo +3
Vision-based rover autonomy requires integrating perception, localization, planning and platform-specific control under limited sensing and computing resources. We present an open-…
AutodidactWAM: Cross-Modal Self-Distillation from Generated Video to Robot Actions
Sergei Kurchev, Iaroslav Kolomiets, Miguel Altamirano Cabrera +2
World-action models (WAMs) such as Cosmos 3 jointly generate future video and robot actions from an observation and instruction. Adapting one such model with a lightweight LoRA fin…
AgenticFocus: Object-Preserving Mixed Reality Synthesis from Human FPV Video for Dexterous Humanoid Learning
Iaroslav Kolomiets, Miguel Altamirano Cabrera, Artem Lykov +6
Human egocentric video is a scalable supervision source for humanoid policy learning, but current pipelines struggle with hand-object occlusion, oversimplified motion, or specializ…
VersualRL: Closed-Loop Verbal Reinforcement Learning with Visual Execution Feedback for Task-Level Robot Planning
Dmitrii Plotnikov, Iaroslav Kolomiets, Dmitrii Maliukov +9
We introduce VersualRL, a closed-loop framework for task-level robot planning that uses visual execution feedback to iteratively refine executable Behavior Trees through structured…