2 papers
cs.RO2025
BEAST: Efficient Tokenization of B-Splines Encoded Action Sequences for Imitation Learning
Hongyi Zhou, Weiran Liao, Xi Huang +11
We present the B-spline Encoded Action Sequence Tokenizer (BEAST), a novel action tokenizer that encodes action sequences into compact discrete or continuous tokens using B-splines…
cs.RO2025
MoRe-ERL: Learning Motion Residuals using Episodic Reinforcement Learning
Xi Huang, Hongyi Zhou, Ge Li +5
We propose MoRe-ERL, a framework that combines Episodic Reinforcement Learning (ERL) and residual learning, which refines preplanned reference trajectories into safe, feasible, and…