4 papers
Making Task Abstractions Executable: Control-Aware Layout Repair for a Fixed Controller
Chiyoung Kim, Seungyeon Back, Sumin Shim +2
A task abstraction can specify the intended events while its spatial layout prevents a fixed agent and controller from completing them. Starting from a supplied structured task rec…
ReShoot: Generative Visual Domain Randomization of Recorded Robot Demonstrations for Visuomotor Policy Learning
Chiyoung Kim, Min Sung Choi, Jinho Ju +5
Imitation-learned robot policies are frequently overfit to the visual conditions present in their training demonstrations. Consequently, variations in object color or background ap…
Recovering Aggressively Pruned Vision-Language-Action Models with Offline Hidden-State Distillation
Chiyoung Kim, Sanghyuk Roy Choi, Minhyeok Lee
Vision-language-action (VLA) models let robots follow language instructions, but their language backbones of several billion parameters are the main obstacle to running them on rob…
CoTinyVLA: Chain-of-Thought Distillation for a Sub-Billion-Parameter Vision-Language-Action Model
Minhyeok Lee, Chiyoung Kim, Chanhoe Gu +5
Vision-Language-Action (VLA) models translate natural-language commands into robot action sequences, but leading systems on the LIBERO-Plus robustness benchmark use three- to seven…