12 papers
LEACL: LLM-Enhanced Automatic Curriculum Learning for Reinforcement Learning in Long-Horizon Manipulation Tasks
Faraz Heravi, James Ouyang, Zifan Xu +3
Long-horizon manipulation tasks pose significant challenges for reinforcement learning due to sparse reward signals and long horizons. Automatic curriculum learning (ACL) has been…
ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priors
Zifan Xu, Ran Gong, Maria Vittoria Minniti +10
Learning generalizable and robust behavior cloning policies requires large volumes of high-quality robotics data. While human demonstrations (e.g., through teleoperation) serve as…
Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input
Zifan Xu, Myoungkyu Seo, Dongmyeong Lee +8
Learning fast and robust ball-kicking skills is a critical capability for humanoid soccer robots, yet it remains a challenging problem due to the need for rapid leg swings, postura…
VOFA: Visual Object Goal Pushing with Force-Adaptive Control for Humanoids
Zichao Hu, Zifan Xu, Dongsik Chang +6
The ability to push large objects in a goal-directed manner using onboard egocentric perception is an essential skill for humanoid robots to perform complex tasks such as material…
BEAGLE: Behavior-Enforced Agent for Grounded Learner Emulation
Hanchen David Wang, Clayton Cohn, Zifan Xu +3
Simulating student learning behaviors in open-ended problem-solving environments holds potential for education research, from training adaptive tutoring systems to stress-testing p…
Entropy-Guided k-Guard Sampling for Long-Horizon Autoregressive Video Generation
Yizhao Han, Tianxing Shi, Zhao Wang +6
Autoregressive (AR) architectures have achieved significant successes in LLMs, inspiring explorations for video generation. In LLMs, top-p/top-k sampling strategies work exceptiona…