5 papers
Embodied Passive Aeroacoustic Perception Enables Relative Sensing and Pursuit Between Aerial Robots
Yanbaihui Liu, Ravi Prakash, Li-Yu Lo +2
Aerial robots generate structured aeroacoustic fields during flight, yet these signals have been underexplored as a source of onboard relative perception, particularly under the st…
Learning Legged MPC with Smooth Neural Surrogates
Samuel A. Moore, Easop Lee, Boyuan Chen
Deep learning and model predictive control (MPC) can play complementary roles in legged robotics. However, integrating learned models with online planning remains challenging. When…
Sym2Real: Symbolic Dynamics with Residual Learning for Data-Efficient Adaptive Control
Easop Lee, Samuel A. Moore, Boyuan Chen
We present Sym2Real, a fully data-driven framework for highly data-efficient adaptation of low-level controllers. Although symbolic regression is data-efficient, its role in real-w…
LAPP: Large Language Model Feedback for Preference-Driven Reinforcement Learning
Pingcheng Jian, Xiao Wei, Yanbaihui Liu +3
We introduce Large Language Model-Assisted Preference Prediction (LAPP), a novel framework for robot learning that enables efficient, customizable, and expressive behavior acquisit…
Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies
Pingcheng Jian, Easop Lee, Zachary Bell +2
Vision-based imitation learning has shown promising capabilities of endowing robots with various motion skills given visual observation. However, current visuomotor policies fail t…