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DexFLEX: Contact-Aware Foundation Controller for Command-Guided Dexterity
Dexterous robot hands can receive useful motion intent from teleoperation or learned policies, but successful execution also depends on …
Weikang Wan, Zeyu Lai, Jianyu Hou, Yuchen Zhou, Jiawei Fu, Henrik I Christensen, Hao Su
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SafeDriveVLA: Navigation-Conditioned World Model Dreaming for Conflict-Aware End-to-End Autonomous Driving
Vision-Language-Action (VLA) models are gaining attention in autonomous driving, inheriting commonsense priors from large language …
Shaoyuan Xie, Zihan Zhang, Jingxuan Wang, Jiashu Qu, Xiaoqing Liang, Lingdong Kong, Junchi Lu, Henrik I Christensen, Qi Alfred Chen
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Sensitivity Shaping for Latent Modeling
Generative dynamics models enable planning in challenging robotic systems, but safe deployment requires reliably detecting …
Hongzhan Yu, Chenghao Li, Ruipeng Zhang, Henrik I Christensen, Sicun Gao
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FlashRFCL: Demonstration-Efficient Sparse Reward RL via Reverse-Forward Curriculum Learning in High-Throughput GPU Simulation
Solving complex tasks using reinforcement learning (RL) from sparse rewards and demonstrations is appealing since one can avoid reward …
Yong Woo Choi, Stone Tao, Henrik I Christensen
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BridgeSim: Unveiling the OL-CL Gap in End-to-End Autonomous Driving
Open-loop (OL) to closed-loop (CL) gap (OL-CL gap) exists when OL-pretrained policies scoring high in OL evaluations fail to transfer …
Seth Z. Zhao, Luobin Wang, Hongwei Ruan, Yuxin Bao, Yilan Chen, Ziyang Leng, Abhijit Ravichandran, Honglin He, Zewei Zhou, Xu Han, Abhishek Peri, Zhiyu Huang, Pranav Desai, Henrik I Christensen, Jiaqi Ma, Bolei Zhou
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Cross-Embodiment Robot Intelligence
Robot embodiments are neither singular nor static. They differ across hardware designs, sensor configurations, and manufacturing …
Bo Ai, Henrik I. Christensen, Hao Su
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Scaling Cross-Embodiment World Models for Dexterous Manipulation
Cross-embodiment learning seeks to build generalist robots that operate across diverse morphologies, but differences in action spaces …
Zihao He, Bo Ai, Tongzhou Mu, Yulin Liu, Weikang Wan, Jiawei Fu, Yilun Du, Henrik I. Christensen, And Hao Su
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Scaling Cross-Embodiment World Models for Dexterous Manipulation
Enhancing Generalization in Vision–Language–Action Models by Preserving Pretrained Representations
Vision–language–action (VLA) models finetuned from vision–language models (VLMs) hold the promise of leveraging rich pretrained …
Shresth Grover, Akshay Gopalkrishnan, Bo Ai, Henrik I. Christensen, Hao Su, And Xuanlin Li
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Enhancing Generalization in Vision–Language–Action Models by Preserving Pretrained Representations
GLIDE: A Coordinated Aerial-Ground Framework for Search and Rescue in Unknown Environments
We present a cooperative aerial-ground search-and-rescue (SAR) framework that pairs two unmanned aerial vehicles (UAVs) with an …
Seth Farrell, Chenghao Li, Henrik I Christensen
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GLIDE: A Coordinated Aerial-Ground Framework for Search and Rescue in Unknown Environments
Towards Embodiment Scaling Laws in Robot Locomotion
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors …
Bo Ai, Liu Dai, Nico Bohlinger, Dichen Li, Tongzhou Mu, Zhanxin Wu, Kehlani Fay, Henrik I Christensen, Jan Peters, Hao Su
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Towards Embodiment Scaling Laws in Robot Locomotion