3 papers indexed
Jiacheng Ruan, Jun Tang, Wenzhen Yuan, Ting Liu, Shuai Bai, Dayiheng Liu, et al.
On-policy Distillation (OPD) supervises a student model on trajectories sampled from its own policy by minimizing the divergence between the output distributions of the teacher and student at each token position, thereby providing dense token-level supervision. Although existing…
Dakarai Crowder, Ruohan Zhang, Alexis E. Block, Wenzhen Yuan
Tactile sensing for social-physical human-robot interaction (spHRI) is designed in a hardware-driven manner, where predefined sensor configurations constrain coverage, spatial resolution, and the range of recognizable gestures. We propose a requirement-driven framework that deriv…
In the development of cooking robots, mastering the task of cutting is crucial. A significant challenge lies in the diverse properties of food, which necessitate distinct cutting policies and even different knives for optimal processing. This paper presents a perception-manipulat…