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Ensuring safety in robotic systems remains a fundamental challenge, especially when deploying offline policy-learning methods such as imitation learning in dynamic environments. Traditional behavior cloning (BC) often fails to generalize…

Randomized smoothing is currently a state-of-the-art method to construct a certifiably robust classifier from neural networks against $\ell_2$-adversarial perturbations. Under the paradigm, the robustness of a classifier is aligned with the…

Imitation learning (IL) has seen remarkable progress, yet field deployment of IL-powered robots remains hindered by the challenge of out-of-distribution (OOD) scenarios. Fine-tuning pre-trained policies with end-user demonstrations…

Offline reinforcement learning (RL) enables policy optimization from fixed datasets, making it suitable for safety-critical applications where online exploration is infeasible. However, these datasets are often contaminated by adversarial…

Reinforcement Learning (RL) lacks benchmarks that enable precise, white-box diagnostics of agent behavior. Current environments often entangle complexity factors and lack ground-truth optimality metrics, making it difficult to isolate why…

In recent years, the Robotics field has initiated several efforts toward building generalist robot policies through large-scale multi-task Behavior Cloning. However, direct deployments of these policies have led to unsatisfactory…

Reinforcement learning (RL) is a promising approach for robotic navigation, allowing robots to learn through trial and error. However, real-world robotic tasks often suffer from sparse rewards, leading to inefficient exploration and…

Increasingly large imitation learning datasets are being collected with the goal of training foundation models for robotics. However, despite the fact that data selection has been of utmost importance in vision and natural language…

Most existing distance metric learning methods assume perfect side information that is usually given in pairwise or triplet constraints. Instead, in many real-world applications, the constraints are derived from side information, such as…

Large-scale web-crawled datasets contain noise, bias, and irrelevant information, necessitating data selection techniques. Existing methods depend on hand-crafted heuristics, downstream datasets, or require expensive influence-based…

The ability to discover optimal behaviour from fixed data sets has the potential to transfer the successes of reinforcement learning (RL) to domains where data collection is acutely problematic. In this offline setting, a key challenge is…

Recently, synthetic data generation and realistic rendering has advanced tasks like target tracking and human pose estimation. Simulations for most robotics applications are obtained in (semi)static environments, with specific sensors and…

Flow Matching (FM) policies have emerged as an efficient backbone for robotic control, offering fast and expressive action generation that underpins recent large-scale embodied AI systems. However, FM policies trained via imitation learning…

Recent advances in Behavior Cloning (BC) have made it easy to teach robots new tasks. However, we find that the ease of teaching comes at the cost of unreliable performance that saturates with increasing data for tasks requiring precision.…

Transformers are designed for discrete tokens, yet many real-world signals are continuous processes observed through noisy sampling. Discrete tokenizations (raw values, patches, finite differences) can be brittle in low signal-to-noise…

Randomized smoothing (RS) has been shown to be a fast, scalable technique for certifying the robustness of deep neural network classifiers. However, methods based on RS require augmenting data with large amounts of noise, which leads to…

Deep ensemble methods often improve predictive performance, yet they suffer from three practical limitations: redundancy among base models that inflates computational cost and degrades conditioning, unstable weighting under…

Randomized Smoothing (RS) is a promising method for obtaining robustness certificates by evaluating a base model under noise. In this work, we: (i) theoretically motivate why ensembles are a particularly suitable choice as base models for…

The study of provable adversarial robustness has mostly been limited to classification tasks and models with one-dimensional real-valued outputs. We extend the scope of certifiable robustness to problems with more general and structured…

Imitation learning (IL) and reinforcement learning (RL) each offer distinct advantages for robotics policy learning: IL provides stable learning from demonstrations, and RL promotes generalization through exploration. While existing robot…