3 papers indexed
Mohan Liu, Zhihao Gu, Xuanyu Chen, Haitian Zhang, Kaimin Mao, Yan Wu, et al.
Vision-Language-Action (VLA) models have emerged as a powerful end-to-end paradigm for robotic manipulation by mapping language instructions and 2D visual inputs directly to actions. However, these models lack an explicit, scene-level 3D representation, limiting their ability to…
Xuanyu Chen, Mohan Liu, Dengchen Mei, Zhihao Gu, Haitian Zhang, Kaimin Mao, et al.
Model-free reinforcement learning has enabled impressive humanoid locomotion; however, control on steep slopes remains largely unexplored. Unlike flat or discrete terrains, sloped terrains impose a persistent gravitational bias that demands simultaneous stability and posture cont…
Xuanyu Chen, Nan Yang, Shuai Wang, Dong Yuan
Recent research has introduced distributed self-supervised learning (D-SSL) approaches to leverage vast amounts of unlabeled decentralized data. However, D-SSL faces the critical challenge of data heterogeneity, and there is limited theoretical understanding of how different D-SS…