7 papers · 1 filter
Red-Teaming Vision-Language-Action Models via Quality Diversity Prompt Generation for Robust Robot Policies
Siddharth Srikanth, Freddie Liang, Ya-Chuan Hsu +9
Vision-Language-Action (VLA) models have significant potential to enable general-purpose robotic systems for a range of vision-language tasks. However, the performance of VLA-based…
ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentation
Jason Chen, I-Chun Arthur Liu, Gaurav Sukhatme +1
Training robust bimanual manipulation policies via imitation learning requires demonstration data with broad coverage over robot poses, contacts, and scene contexts. However, colle…
Preference-Conditioned Reinforcement Learning for Space-Time Efficient Online 3D Bin Packing
Nikita Sarawgi, Omey M. Manyar, Fan Wang +3
Robotic bin packing is widely deployed in warehouse automation, with current systems achieving robust performance through heuristic and learning-based strategies. These systems mus…
ICLR: In-Context Imitation Learning with Visual Reasoning
Toan Nguyen, Weiduo Yuan, Songlin Wei +3
In-context imitation learning enables robots to adapt to new tasks from a small number of demonstrations without additional training. However, existing approaches typically conditi…
D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Grasping
Haozhe Lou, Mingtong Zhang, Haoran Geng +9
Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real…
D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentation
I-Chun Arthur Liu, Jason Chen, Gaurav Sukhatme +1
Learning bimanual manipulation is challenging due to its high dimensionality and tight coordination required between two arms. Eye-in-hand imitation learning, which uses wrist-moun…