no code implementations • 28 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.
no code implementations • 19 Dec 2024 • Yucheng Hu, Yanjiang Guo, Pengchao Wang, Xiaoyu Chen, Yen-Jen Wang, Jianke Zhang, Koushil Sreenath, Chaochao Lu, Jianyu Chen
Recent advancements in robotics have focused on developing generalist policies capable of performing multiple tasks.
no code implementations • 27 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.
1 code implementation • 15 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.
no code implementations • 12 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.
1 code implementation • 26 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.
1 code implementation • 8 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.
1 code implementation • 18 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.
no code implementations • 1 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.
no code implementations • 30 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.