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cs.RO2026
Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA
Tutian Tang, Xingyu Ji, Wanli Xing +7
While Vision-Language-Action (VLA) models have demonstrated remarkable success in robotic manipulation, their application has largely been confined to low-degree-of-freedom end-eff…
cs.RO2024
TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach
Weikun Peng, Jun Lv, Yuwei Zeng +5
The tie-knotting task is highly challenging due to the tie's high deformation and long-horizon manipulation actions. This work presents TieBot, a Real-to-Sim-to-Real learning from…
cs.RO2024
Learning Reward for Robot Skills Using Large Language Models via Self-Alignment
Yuwei Zeng, Yao Mu, Lin Shao
Learning reward functions remains the bottleneck to equip a robot with a broad repertoire of skills. Large Language Models (LLM) contain valuable task-related knowledge that can po…