4 papers
Pretrained Vision-Language-Action Models are Surprisingly Resistant to Forgetting in Continual Learning
Huihan Liu, Changyeon Kim, Bo Liu +2
Continual learning is a long-standing challenge in robot policy learning, where a policy must acquire new skills over time without catastrophically forgetting previously learned on…
SCIZOR: A Self-Supervised Approach to Data Curation for Large-Scale Imitation Learning
Yu Zhang, Yuqi Xie, Huihan Liu +4
Imitation learning advances robot capabilities by enabling the acquisition of diverse behaviors from human demonstrations. However, large-scale datasets used for policy training of…
Casper: Inferring Diverse Intents for Assistive Teleoperation with Vision Language Models
Huihan Liu, Rutav Shah, Shuijing Liu +6
Assistive teleoperation, where control is shared between a human and a robot, enables efficient and intuitive human-robot collaboration in diverse and unstructured environments. A…
Multi-Task Interactive Robot Fleet Learning with Visual World Models
Huihan Liu, Yu Zhang, Vaarij Betala +4
Recent advancements in large-scale multi-task robot learning offer the potential for deploying robot fleets in household and industrial settings, enabling them to perform diverse t…