8 papers
Try Once, Then Optimal: De-Redundified Procedure Memory for Cross-Episode Exploration Amortization
Haizhou Ge, Haochen Ouyang, Zhixing Chen +6
Manipulating objects with hidden internal state, such as a latched microwave, forces a robot to probe before it can act. Yet a robot that has solved an instance once re-runs the sa…
FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks
Haizhou Ge, Yufei Jia, Zheng Li +6
Many contact-rich manipulation tasks require precise force regulation. However, most imitation learning (IL) policies remain position-centric and lack explicit force awareness, and…
When Video Misreads: Closed-Loop Distillation of Reading Heuristics for Exploratory Manipulation Trace QA
Haizhou Ge, Yufei Jia, Yue Li +5
Exploratory manipulation often turns an apparent failed attempt into the key evidence for what to do next. For example, a robot pulls a locked cabinet drawer, fails, and only succe…
UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
Yufei Jia, Zhanxiang Cao, Mingrui Yu +48
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-ce…
Let Robots Feel Your Touch: Visuo-Tactile Cortical Alignment for Embodied Mirror Resonance
Tianfang Zhu, Ning An, Rui Wang +4
Observing touch on another's body can elicit corresponding tactile sensations in the observer, a phenomenon termed mirror touch that supports empathy and social perception. This vi…
GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning
Yufei Jia, Heng Zhang, Ziheng Zhang +39
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based loco…