action tokenization 1behavior cloning 1imitation learning 1motion mode conditioning 1robot manipulation 1
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cs.RO2026
MoMo: Dial Motion Mode in Robot Manipulation with Spatiotemporal Action Tokenization
Yuhan Hu, Hugues Thomas, Peide Huang +3
MoMo is a two-stage imitation‑learning system that uses spatiotemporal action tokenization and a behavior‑cloning transformer to let robots vary their manipulation style (steady, d…
cs.RO2025
DR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigation
James R. Han, Hugues Thomas, Jian Zhang +2
How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simula…
cs.RO2024
Embedding Pose Graph, Enabling 3D Foundation Model Capabilities with a Compact Representation
Hugues Thomas, Mouli Sivapurapu, Jian Zhang
This paper presents the Embedding Pose Graph (EPG), an innovative method that combines the strengths of foundation models with a simple 3D representation suitable for robotics appl…