4 accepted papers
Understanding the capability bottlenecks of embodied multimodal large language models (MLLMs) is crucial for improvement. However, existing embodied benchmarks fail to provide actionable insights because they focus on task-level evaluation rather than discovering capability bottlenecks. To address t…
We present Generalizable Hierarchical Skill Learning (GSL), a novel framework for hierarchical policy learning that improves policy generalization and sample efficiency in robot manipulation. One core idea of GSL is to use object-centric skills as an interface that bridges the high-level vision-lang
Recent advances in hierarchical policy learning highlight the advantages of decomposing systems into high-level and low-level agents, enabling efficient long-horizon reasoning and precise fine-grained control. However, the interface between these hierarchy levels remains underexplored, and existing…
Recent work has shown diffusion models are an effective approach to learning the multimodal distributions arising from demonstration data in behavior cloning. However, a drawback of this approach is the need to learn a denoising function, which is significantly more complex than learning an explicit…