5 papers
ViPRA: Video Prediction for Robot Actions
Sandeep Routray, Hengkai Pan, Unnat Jain +2
Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack l…
Expanding the Capabilities of Reinforcement Learning via Text Feedback
Yuda Song, Lili Chen, Fahim Tajwar +5
The success of RL for LLM post-training stems from an unreasonably uninformative source: a single bit of information per rollout as binary reward or preference label. At the other…
Generative Classifiers Avoid Shortcut Solutions
Alexander C. Li, Ananya Kumar, Deepak Pathak
Discriminative approaches to classification often learn shortcuts that hold in-distribution but fail even under minor distribution shift. This failure mode stems from an overrelian…
LocoFormer: Generalist Locomotion via Long-context Adaptation
Min Liu, Deepak Pathak, Ananye Agarwal
Modern locomotion controllers are manually tuned for specific embodiments. We present LocoFormer, a generalist omni-bodied locomotion model that can control previously unseen legge…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…