10 accepted papers
Simulation provides a cost-effective and flexible platform for data generation and policy learning to develop robotic systems. However, bridging the gap between simulation and real-world dynamics remains a significant challenge, especially in physical parameter identification. In this work, we intro…
Constrained multi-objective reinforcement learning aims to discover a diverse set of feasible trade-offs, yet scalarization and signed, normalized group-relative advantages can be brittle under objective-scale drift, near-ties, and feasibility scarcity. We propose constrained projection policy optim…
A primary motivation for analog integrated circuit (IC) design automation is the inefficiency of manual design in meeting increasingly stringent specifications, which often involve over 10 objectives. Recent advances in reinforcement learning (RL) emerge as a promising method, yet gaps remain when
Scooping items with tools such as spoons and ladles is common in daily life, ranging from assistive feeding to retrieving items from environmental disaster sites. However, developing a general and autonomous robotic scooping policy is challenging since it requires reasoning about complex tool-object…
We introduce Ψ₀ (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental problem by co-training on large and diverse human and humanoid data, we argue that this strategy is suboptimal due to the …
Designing complex computer-aided design (CAD) models is often time-consuming due to challenges such as computational inefficiency and the difficulty of generating precise models. We propose a novel language-guided framework for industrial design automation to address these issues, integrating large…
Traffic prediction provides vital support for urban traffic management and has received extensive research interest. By virtue of the ability to effectively learn spatial and temporal dependencies from a global view, Transformers have achieved superior performance in long-term traffic prediction. Ho…
Sequentially grasping multiple objects with multi-fingered hands is common in daily life, where humans can fully leverage the dexterity of their hands to enclose multiple objects. However, the diversity of object geometries and the complex contact interactions required for high-DOF hands to grasp on
We present UniFoil, the largest publicly available universal airfoil database based on Reynolds-Averaged Navier–Stokes (RANS) simulations. It contains over 500,000 samples spanning a wide range of Reynolds and Mach numbers, capturing both transitional and fully turbulent flows across incompressible…
Bimanual manipulation is critical to many robotics applications. In contrast to single-arm manipulation, bimanual manipulation tasks are challenging due to higher-dimensional action spaces. Prior works leverage large amounts of data and primitive actions to address this problem, but may suffer from…