5 papers
Coupled Distributional Random Expert Distillation for World Model Online Imitation Learning
Shangzhe Li, Zhiao Huang, Hao Su
Imitation Learning (IL) has achieved remarkable success across various domains, including robotics, autonomous driving, and healthcare, by enabling agents to learn complex behavior…
Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation
Tongxuan Tian, Haoyang Li, Bo Ai +3
Cloth manipulation is challenging due to its highly complex dynamics, near-infinite degrees of freedom, and frequent self-occlusions, which complicate both state estimation and dyn…
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI
Stone Tao, Fanbo Xiang, Arth Shukla +20
Simulation has enabled unprecedented compute-scalable approaches to robot learning. However, many existing simulation frameworks typically support a narrow range of scenes/tasks an…
Reward-free World Models for Online Imitation Learning
Shangzhe Li, Zhiao Huang, Hao Su
Imitation learning (IL) enables agents to acquire skills directly from expert demonstrations, providing a compelling alternative to reinforcement learning. However, prior online IL…
Chain-of-Thought Predictive Control
Zhiwei Jia, Vineet Thumuluri, Fangchen Liu +3
We study generalizable policy learning from demonstrations for complex low-level control (e.g., contact-rich object manipulations). We propose a novel hierarchical imitation learni…