15 papers
Delay-Aware Diffusion Policy: Bridging the Observation-Execution Gap in Dynamic Tasks
Aileen Liao, Dong-Ki Kim, Max Olan Smith +2
As a robot senses and selects actions, the world keeps changing. This inference delay creates a gap of tens to hundreds of milliseconds between the observed state and the state at…
ELLIPSE: Evidential Learning for Robust Waypoints and Uncertainties
Zihao Dong, Chanyoung Chung, Dong-Ki Kim +5
Robust waypoint prediction is crucial for mobile robots operating in open-world, safety-critical settings. While Imitation Learning (IL) methods have demonstrated great success in…
World Model Failure Classification and Anomaly Detection for Autonomous Inspection
Michelle Ho, Muhammad Fadhil Ginting, Isaac R. Ward +4
Autonomous inspection robots for monitoring industrial sites can reduce costs and risks associated with human-led inspection. However, accurate readings can be challenging due to o…
GrndCtrl: Grounding World Models via Self-Supervised Reward Alignment
Haoyang He, Jay Patrikar, Dong-Ki Kim +5
Recent advances in video world modeling have enabled large-scale generative models to simulate embodied environments with high visual fidelity, providing strong priors for predicti…
FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
Yuanhang Zhang, Yifu Yuan, Prajwal Gurunath +7
Humanoid loco-manipulation holds transformative potential for daily service and industrial tasks, yet achieving precise, robust whole-body control with 3D end-effector force intera…
Enter the Mind Palace: Reasoning and Planning for Long-term Active Embodied Question Answering
Muhammad Fadhil Ginting, Dong-Ki Kim, Xiangyun Meng +10
As robots become increasingly capable of operating over extended periods -- spanning days, weeks, and even months -- they are expected to accumulate knowledge of their environments…