28 accepted papers
Large language models (LLMs) are increasingly deployed as autonomous agents for multi-turn decision-making tasks. However, current agents typically rely on fixed cognitive patterns: non-thinking models generate immediate responses, while thinking models engage in deep reasoning uniformly. This rigid…
Large language models (LLMs) have enabled agents to perform complex reasoning and decision-making through free-form language interactions. However, in open-ended language action environments (e.g., negotiation or question-asking games), the action space can be formulated as a joint distribution over…
The site conditions that make astronomical observatories in space and on the ground so desirable---cold and dark---demand a physical remoteness that leads to limited data transmission capabilities. Such transmission limitations directly bottleneck the amount of data acquired and in an era of costly…
Teleoperation is a crucial tool for collecting human demonstrations, but controlling robots with bimanual dexterous hands remains a challenge. Existing teleoperation systems struggle to handle the complexity of coordinating two hands for intricate manipulations. We introduce Bunny-VisionPro, a real-
Generating large-scale demonstrations for dexterous manipulation remains a challenging problem, and various approaches have been proposed in recent years to address it. Among these, generative models have emerged as a promising paradigm, enabling the efficient generation of diverse and plausible dem…
An open problem in mobile manipulation is how to represent objects and scenes in a unified manner so that robots can use both for navigation and manipulation. The latter requires capturing intricate geometry while understanding fine-grained semantics, whereas the former involves capturing the comple
While Large Language Models (LLMs) demonstrate impressive capabilities, they still struggle with generating factually incorrect content (i.e., hallucinations). A promising approach to mitigate this issue is enabling models to express uncertainty when unsure. Previous research on uncertainty modeling…
Language agents powered by large language models (LLMs) are increasingly valuable as decision-making tools in domains such as gaming and programming. However, these agents often face challenges in achieving high-level goals without detailed instructions and in adapting to environments where feedback…
Large language models (LLMs) have recently transformed from text-based assistants to autonomous agents capable of planning, reasoning, and iteratively improving their actions. While numerical reward signals and verifiers can effectively rank candidate actions, they often provide limited contextual g…
Large Language Models (LLMs) are prone to hallucination, particularly in long-form generations. A promising direction to mitigate hallucination is to teach LLMs to express uncertainty explicitly when they lack sufficient knowledge. However, existing work lacks direct and fair evaluation of LLMs’ abi
‘In-the-wild’ mobile manipulation aims to deploy robots in diverse real-world environments, which requires the robot to (1) have skills that generalize across object configurations; (2) be capable of long-horizon task execution in diverse environments; and (3) perform complex manipulation beyond pic
Bimanual robotic manipulation with dexterous hands has a large potential workability and a wide workspace as it follows the most natural human workflow. Learning from human demonstrations has proven highly effective for learning a dexterous manipulation policy. To collect such data, teleoperation se…
Can we enable humanoid robots to generate rich, diverse, and expressive motions in the real world? We propose to learn a whole-body control policy on a human-sized robot to mimic human motions as realistic as possible. To train such a policy, we leverage the large-scale human motion capture data fro…
Constructing fast samplers for unconditional diffusion and flow-matching models has received much attention recently; however, existing methods for solving *inverse problems*, such as super-resolution, inpainting, or deblurring, still require hundreds to thousands of iterative steps to obtain high-q…
The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this suite of behaviors to legged robotic systems introduces essential inquiries: How can a robot be trained to learn multiple…
Large language models (LLMs) excellently generate human-like text, but also raise concerns about misuse in fake news and academic dishonesty. Decoding-based watermark, particularly the watermark based on the GumbelMax trick (GM watermark), is a standout solution for safeguarding machine-generated te…
Recent advancements in robotics have enabled robots to navigate complex scenes or manipulate diverse objects independently. However, robots are still impotent in many household tasks requiring coordinated behaviors such as opening doors. The factorization of navigation and manipulation, while effect…
In climate science and meteorology, high-resolution local precipitation (rain and snowfall) predictions are limited by the computational costs of simulation-based methods. Statistical downscaling, or super-resolution, is a common workaround where a low-resolution prediction is improved using statist…
Vision Language Models (VLMs) have demonstrated remarkable performance in 2D vision and language tasks. However, their ability to reason about spatial arrangements remains limited. In this work, we introduce Spatial Region GPT (SpatialRGPT) to enhance VLMs’ spatial perception and reasoning capabilit…
Animals have the ability to use their arms and legs for both locomotion and manipulation. We envision quadruped robots to have the same versatility. This work presents a system that empowers a quadruped robot to perform object interactions with its legs, drawing inspiration from non-prehensile manip…
We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an opportunity to amplify the manipulation capabilities by conducting whole-body control. That is, the robot can control t…
This paper outlines an end-to-end optimized lossy image compression framework using diffusion generative models. The approach relies on the transform coding paradigm, where an image is mapped into a latent space for entropy coding and, from there, mapped back to the data space for reconstruction. In…
Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial observability of the problem, the robot has to rely on past observ…
"While in computer vision we have made significant progress on understanding hand-object interactions, it is still very challenging for robots to perform complex dexterous manipulation. In this paper, we propose a new platform and pipeline, DexMV (Dexterous Manipulation from Videos), for imitation l…
We propose to address quadrupedal locomotion tasks using Reinforcement Learning (RL) with a Transformer-based model that learns to combine proprioceptive information and high-dimensional depth sensor inputs. While learning-based locomotion has made great advances using RL, most methods still rely on…
Developing robust vision-guided controllers for quadrupedal robots in complex environments with various obstacles, dynamical surroundings and uneven terrains is very challenging. While Reinforcement Learning (RL) provides a promising paradigm for agile locomotion skills with vision inputs in simulat…
Recent work by Marino et al. (2020) showed improved performance in sequential density estimation by combining masked autoregressive flows with hierarchical latent variable models. We draw a connection between such autoregressive generative models and the task of lossy video compression. Specifically…
Multi-task learning is a very challenging problem in reinforcement learning. While training multiple tasks jointly allow the policies to share parameters across different tasks, the optimization problem becomes non-trivial: It remains unclear what parameters in the network should be reused across t…