Instrumented objects boost diffusion policy success in robotic hanger insertion by 14-25 percentage points over vision-only baselines, and augmenting datasets with instrumented expert rollouts lets a vision-only student match the instrumented expert.
Racer: Rich language-guided failure recovery policies for imitation learning.arXiv preprint arXiv:2409.14674
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A hierarchical VLA architecture lets robots follow complex instructions and situated feedback by separating high-level reasoning from low-level control.
A passively compliant soft wrist structures insertion as sequential contact formations and uses a VLM to recover from failures, reaching 83% success in simulation across randomized grasp, pose, friction, and shape variations with real-robot validation.
citing papers explorer
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Instrumentation for Imitation Learning: Enhancing Training Datasets for Clothes Hanger Insertion
Instrumented objects boost diffusion policy success in robotic hanger insertion by 14-25 percentage points over vision-only baselines, and augmenting datasets with instrumented expert rollouts lets a vision-only student match the instrumented expert.
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Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models
A hierarchical VLA architecture lets robots follow complex instructions and situated feedback by separating high-level reasoning from low-level control.
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Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery
A passively compliant soft wrist structures insertion as sequential contact formations and uses a VLM to recover from failures, reaching 83% success in simulation across randomized grasp, pose, friction, and shape variations with real-robot validation.
- Sentinel-VLA: A Metacognitive VLA Model with Active Status Monitoring for Dynamic Reasoning and Error Recovery