17 citations · 50 across the 52 of their papers we have counts for
15 papers · 1 filter
Humanoid Safe Stop via Learned Stoppability Value
Junfeng Long, Pieter Abbeel, Koushil Sreenath +3
Humanoid robots responding to emergency stop commands typically execute a fixed maneuver, without reasoning about whether a safe stop is actually feasible from the current state. W…
ODEWorld: A Continuous Predictive Architecture via Physical-Time Flow
Dongxiu Liu, Haoyi Niu, Peng Cheng +5
In the physical world we inhabit, space and time are fundamentally continuous. However, existing machine learning paradigms for world modeling are largely confined to discrete-time…
Trajectory-Regularized Stochastic Optimal Control via KL Divergence
Mintae Kim, Koushil Sreenath
We introduce trajectory-regularized stochastic optimal control (TRSOC), which augments standard stochastic optimal control (SOC) with a Kullback--Leibler (KL) divergence between co…
Action QFormer: Structured Representation Shaping under Action Supervision in Vision-Language-Action Models
Yufeng Ji, Wenhao Tang, Haoyi Niu +3
Action supervision in vision-language-action (VLA) models is often treated as a downstream objective for learning action prediction. In this paper, we study it instead as a force t…
VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes
Yen-Jen Wang, Jiaman Li, Sirui Chen +9
Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egoc…
Embedding Hybrid Systems into Continuous Latent Vector Fields
Sangli Teng, Hang Liu, Koushil Sreenath
This work proves that an -dimensional hybrid system can be embedded into an -dimensional Euclidean space equipped with a continuous vector field on its embedded image wheneve…