180 citations · 578 across the 40 of their papers we have counts for
11 papers · 1 filter
FCTS: Failure-Guided Curriculum Tree Search Over Generated Terrain for Legged Parkour
Narayanan Palghat Parameswaran, Dong-Ki Kim, Jay Patrikar +4
Quadruped parkour policies handle canonical obstacles well, but their training curricula often miss the irregular, compound geometry of industrial and disaster-response sites, wher…
PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting
Nicholas Ioannidis, Dun Yang, Max Smith +5
Motion retargeting is a critical preprocessing step for transferring human motion data to humanoid robots. While existing methods are effective for single-character motions, intera…
Simulation Distillation: Pretraining World Models in Simulation for Rapid Real-World Adaptation
Jacob Levy, Tyler Westenbroek, Kevin Huang +6
Robot learning requires adaptation methods that improve reliably from limited, mixed-quality interaction data. This is especially challenging in long-horizon, contact-rich tasks, w…
World Model Failure Classification and Anomaly Detection for Autonomous Inspection
Michelle Ho, Muhammad Fadhil Ginting, Isaac R. Ward +4
Autonomous inspection robots for monitoring industrial sites can reduce costs and risks associated with human-led inspection. However, accurate readings can be challenging due to o…
Delay-Aware Diffusion Policy: Bridging the Observation-Execution Gap in Dynamic Tasks
Aileen Liao, Dong-Ki Kim, Max Olan Smith +2
As a robot senses and selects actions, the world keeps changing. This inference delay creates a gap of tens to hundreds of milliseconds between the observed state and the state at…
Don't Run with Scissors: Pruning Breaks VLA Models but They Can Be Recovered
Jason Jabbour, Dong-Ki Kim, Max Smith +6
Vision-Language-Action (VLA) models are a promising paradigm for field robotics, but their deployment is bottlenecked by strict edge SWaP-C constraints. Compression techniques such…
VENTURA: Adapting Image Diffusion Models for Unified Task Conditioned Navigation
Arthur Zhang, Xiangyun Meng, Luca Calliari +5
Robots must adapt to diverse human instructions and operate safely in unstructured, open-world environments. Recent Vision-Language models (VLMs) offer strong priors for grounding…
StageACT: Stage-Conditioned Imitation for Robust Humanoid Door Opening
Moonyoung Lee, Dong Ki Kim, Jai Krishna Bandi +4
Humanoid robots promise to operate in everyday human environments without requiring modifications to the surroundings. Among the many skills needed, opening doors is essential, as…
Enter the Mind Palace: Reasoning and Planning for Long-term Active Embodied Question Answering
Muhammad Fadhil Ginting, Dong-Ki Kim, Xiangyun Meng +10
As robots become increasingly capable of operating over extended periods -- spanning days, weeks, and even months -- they are expected to accumulate knowledge of their environments…
FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation
Yuanhang Zhang, Yifu Yuan, Prajwal Gurunath +7
Humanoid loco-manipulation holds transformative potential for daily service and industrial tasks, yet achieving precise, robust whole-body control with 3D end-effector force intera…
SayComply: Grounding Field Robotic Tasks in Operational Compliance through Retrieval-Based Language Models
Muhammad Fadhil Ginting, Dong-Ki Kim, Sung-Kyun Kim +4
This paper addresses the problem of task planning for robots that must comply with operational manuals in real-world settings. Task planning under these constraints is essential fo…