6 papers
Decompose and Reorganize: Planning with Primitives and Visuomotor Policies Learned from Demonstrations
Yizhou Chen, Hang Xu, Dongjie Yu +7
Successfully automating dexterous, long-horizon robotic manipulation requires frameworks capable of both high-level reasoning and fine-grained execution. Traditional task and motio…
Beyond Action Residuals: Real-World Robot Policy Steering via Bottleneck Latent Reinforcement Learning
Dongjie Yu, Kun Lei, Zhennan Jiang +2
Pretrained imitation policies have become a strong foundation for robot manipulation, but they often require online improvement to overcome execution errors, limited dataset covera…
RL-100: Performant Robotic Manipulation with Real-World Reinforcement Learning
Kun Lei, Huanyu Li, Dongjie Yu +6
Real-world robotic manipulation in homes and factories demands reliability, efficiency, and robustness that approach or surpass those of skilled human operators. We present RL-100,…
BiKC+: Bimanual Hierarchical Imitation with Keypose-Conditioned Coordination-Aware Consistency Policies
Hang Xu, Yizhou Chen, Dongjie Yu +2
Robots are essential in industrial manufacturing due to their reliability and efficiency. They excel in performing simple and repetitive unimanual tasks but still face challenges w…
SViP: Sequencing Bimanual Visuomotor Policies with Object-Centric Motion Primitives
Yizhou Chen, Hang Xu, Dongjie Yu +3
Imitation learning (IL), particularly when leveraging high-dimensional visual inputs for policy training, has proven intuitive and effective in complex bimanual manipulation tasks.…
3DFlowAction: Learning Cross-Embodiment Manipulation from 3D Flow World Model
Hongyan Zhi, Peihao Chen, Siyuan Zhou +4
Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reas…