5 papers
OxyGen: Unified KV Cache Management for VLA Inference under Multi-Task Parallelism
Xiangyu Li, Huaizhi Tang, Xin Ding +3
Embodied AI agents increasingly require parallel execution of multiple tasks, such as manipulation, conversation, and memory construction, from shared observations under distinct t…
MemCompiler: Compile, Don't Inject -- State-Conditioned Memory for Embodied Agents
Xin Ding, Xinrui Wang, Yifan Yang +9
Existing memory systems for embodied agents typically inject retrieved memory as static context at episode start, a paradigm we term Ahead-of-time Monolithic Memory Injection (AMMI…
EBT-Policy: Energy Unlocks Emergent Physical Reasoning Capabilities
Travis Davies, Yiqi Huang, Alexi Gladstone +5
Implicit policies parameterized by generative models, such as Diffusion Policy, have become the standard for policy learning and Vision-Language-Action (VLA) models in robotics. Ho…
Tenma: Robust Cross-Embodiment Robot Manipulation with Diffusion Transformer
Travis Davies, Yiqi Huang, Yunxin Liu +3
Scaling Transformer policies and diffusion models has advanced robotic manipulation, yet combining these techniques in lightweight, cross-embodiment learning settings remains chall…
STRIDE: Automating Reward Design, Deep Reinforcement Learning Training and Feedback Optimization in Humanoid Robotics Locomotion
Zhenwei Wu, Jinxiong Lu, Yuxiao Chen +3
Humanoid robotics presents significant challenges in artificial intelligence, requiring precise coordination and control of high-degree-of-freedom systems. Designing effective rewa…