Search Results for author: Yen-Jen Wang

Found 10 papers, 4 papers with code

Improving Vision-Language-Action Model with Online Reinforcement Learning

no code implementations28 Jan 2025 Yanjiang Guo, Jianke Zhang, Xiaoyu Chen, Xiang Ji, Yen-Jen Wang, Yucheng Hu, Jianyu Chen

Recent studies have successfully integrated large vision-language models (VLMs) into low-level robotic control by supervised fine-tuning (SFT) with expert robotic datasets, resulting in what we term vision-language-action (VLA) models.

reinforcement-learning Reinforcement Learning +1

Prediction with Action: Visual Policy Learning via Joint Denoising Process

no code implementations27 Nov 2024 Yanjiang Guo, Yucheng Hu, Jianke Zhang, Yen-Jen Wang, Xiaoyu Chen, Chaochao Lu, Jianyu Chen

On the other line, diffusion models have also shown promise in robotic control tasks by denoising actions, known as diffusion policy.

Denoising Image Generation +2

Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies

1 code implementation15 Oct 2024 Zixuan Chen, Xialin He, Yen-Jen Wang, Qiayuan Liao, Yanjie Ze, Zhongyu Li, S. Shankar Sastry, Jiajun Wu, Koushil Sreenath, Saurabh Gupta, Xue Bin Peng

We demonstrate that LCP effectively replaces the need for smoothing rewards or low-pass filters and can be easily integrated into training frameworks for many distinct humanoid robots.

HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers

no code implementations12 Sep 2024 Jianke Zhang, Yanjiang Guo, Xiaoyu Chen, Yen-Jen Wang, Yucheng Hu, Chengming Shi, Jianyu Chen

Large Vision-Language-Action (VLA) models, leveraging powerful pre trained Vision-Language Models (VLMs) backends, have shown promise in robotic control due to their impressive generalization ability.

Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning

1 code implementation26 Aug 2024 Xinyang Gu, Yen-Jen Wang, Xiang Zhu, Chengming Shi, Yanjiang Guo, Yichen Liu, Jianyu Chen

In this work, we introduce Denoising World Model Learning (DWL), an end-to-end reinforcement learning framework for humanoid locomotion control, which demonstrates the world's first humanoid robot to master real-world challenging terrains such as snowy and inclined land in the wild, up and down stairs, and extremely uneven terrains.

Denoising reinforcement-learning +1

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer

1 code implementation8 Apr 2024 Xinyang Gu, Yen-Jen Wang, Jianyu Chen

Humanoid-Gym is an easy-to-use reinforcement learning (RL) framework based on Nvidia Isaac Gym, designed to train locomotion skills for humanoid robots, emphasizing zero-shot transfer from simulation to the real-world environment.

MuJoCo Physical Simulations +1

Prompt a Robot to Walk with Large Language Models

1 code implementation18 Sep 2023 Yen-Jen Wang, Bike Zhang, Jianyu Chen, Koushil Sreenath

Large language models (LLMs) pre-trained on vast internet-scale data have showcased remarkable capabilities across diverse domains.

DoReMi: Grounding Language Model by Detecting and Recovering from Plan-Execution Misalignment

no code implementations1 Jul 2023 Yanjiang Guo, Yen-Jen Wang, Lihan Zha, Jianyu Chen

Large language models (LLMs) encode a vast amount of semantic knowledge and possess remarkable understanding and reasoning capabilities.

Language Modeling Language Modelling +2

Decentralized Motor Skill Learning for Complex Robotic Systems

no code implementations30 Jun 2023 Yanjiang Guo, Zheyuan Jiang, Yen-Jen Wang, Jingyue Gao, Jianyu Chen

Experiments on quadruped and humanoid robots demonstrate that the learned policy is robust against local motor malfunctions and can be transferred to new tasks.

Reinforcement Learning (RL)

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