Minho Heo

PhD student at KAIST | Robot Learning, Robotics

[Jesse Zhang @Jesse_Y_Zhang]

A reward model that works, zero-shot, across robots, tasks, and scenes?

Introducing Robometer: Scaling general-purpose robotic reward models with 1M+ trajectories.

Enables zero-shot: online/offline/model-based RL, data retrieval + IL, automatic failure detection, and more!

🧵 (1/12)

[Jesse Zhang @Jesse_Y_Zhang]

How can we help *any* image-input policy generalize better?

👉 Meet PEEK 🤖 — a framework that uses VLMs to decide *where* to look and *what* to do, so downstream policies — from ACT, 3D-DA, or even π₀ — generalize more effectively!

🧵

[Kaixin Chai @Kaixin_Chai]

🚀 Introducing N2M!

In mobile manipulation, the performance of a manipulation policy is very sensitive to the robot’s initial pose. N2M guides the robot to a suitable pose for executing the manipulation policy.

N2M comes with 5 key features - Check them out in the posts below!

[Lars Ankile @larsankile]

How can we enable finetuning of humanoid manipulation policies, directly in the real world?

In our new paper, Residual Off-Policy RL for Finetuning BC Policies, we demonstrate real-world RL on a bimanual humanoid with 5-fingered hands (29 DoF) and improve pre-trained policies with ~15-75 minutes of robot interaction.

By learning residual corrections on frozen BC policies using sample-efficient off-policy RL, we achieve significant improvements in sample efficiency, enabling policy finetuning directly on the hardware — to our knowledge, one of the first examples of this on a humanoid with bimanual dexterous hands.

(If you know of other examples, let me know!)

[Minho Heo @MinhoHeo]

Come see what robot learning can do for surgical automation!
We’re excited to host the first Workshop on Automating Robotic Surgery with an amazing lineup of speakers.

🗓️ Sept. 27 09:30AM - 12:30PM
📍 Floor 3F, Room E7
🌐 https://t.co/Lp10McSvb2

#CoRL2025 #CoRL @corl_conf

[Minho Heo @MinhoHeo]

Come see what robot learning can do for surgical automation!
We’re excited to host the first Workshop on Automating Robotic Surgery with an amazing lineup of speakers.

🗓️ Sept. 27 09:30AM - 12:30PM
📍 Floor 3F, Room E7
🌐 https://t.co/Lp10McSvb2

#CoRL2025 #CoRL @corl_conf

[Ayush Jain @Ayushj240]

Honored that our @RL_Conference paper won the Outstanding Paper Award on Empirical Reinforcement Learning Research!

📜Mitigating Suboptimality of Deterministic Policy Gradients in Complex Q-Functions
📎https://t.co/owm0hVVsUK

Grateful to my advisors @JosephLim_AI and @ebiyik_!

[Sungjae Park @sungj1026]

Introducing DemoDiffusion: A simple approach for enabling one-shot imitation of human demonstration, using a pre-trained ‘generalist’ diffusion-style (diffusion, flow-matching, etc) policy.

No additional training, no paired human-robot data, no online RL. 🧵(1/n)

[Jesse Zhang @Jesse_Y_Zhang]

Reward models that help real robots learn new tasks—no new demos needed!

ReWiND uses language-guided rewards to train bimanual arms on OOD tasks in 1 hour!

Offline-to-online, lang-conditioned, visual RL on action-chunked transformers.

🧵

[Shivin Dass @ShivinDass]

Ever wondered which data from large datasets (like OXE) actually helps when training/tuning a policy for specific tasks?

We present DataMIL, a framework for measuring how each training sample influences policy performance, hence enabling effective data selection 🧵

[Hyunwoo Kim @hyunw_kim]

📢I'm thrilled to announce that I’ll be joining @KAIST_AI as an Assistant Professor in 2026, leading the Computation & Cognition (COCO) Lab🤖🧠: https://t.co/ioG9cAs95H
We'll be exploring reasoning, learning w/ synthetic data, and social agents!
+I'm spending a gap year @nvidia✨

[CyberRobo @CyberRobooo]

Genius, a Chinese developer, based on the Unitree G1, modified it into a humanoid robot firefighter.

We need more of these robots that protect people's lives.

[Unitree @UnitreeRobotics]

Unitree Iron Fist King: Awakening!💪
Let's step into a new era of Sci-Fi, join the fun together! Unitree will be livestreaming robot combat in about a month, stay tuned!
#Unitree #Fighting #Boxing #HumanoidRobot #Robot #AI #IronFist #Game

[Aran Komatsuzaki @arankomatsuzaki]

NVIDIA and CMU presents ASAP, which enables highly agile motions that were previously difficult to achieve!

@Cristiano Siuuuuuuu!

[Unitree @UnitreeRobotics]

Unitree B2-W Talent Awakening! 🥳
One year after mass production kicked off, Unitree’s B2-W Industrial Wheel has been upgraded with more exciting capabilities.
Please always use robots safely and friendly.
#Unitree #Quadruped #Robotdog #Parkour #EmbodiedAI #IndustrialRobot #InspectionRobot #IntelligentRobot #FoundationModels #LeggedRobot #WheeledLegs

[Joseph Lim @JosephLim_AI]

https://t.co/AAuq5Emr37

CoRL 2025 schedule is released now!

Please note that the whole schedule is earlier than other times.

The submission deadline: 4/28
The conference: 9/27-9/30

@corl_conf #corl2025

[Lars Ankile @larsankile]

We had a great time at the Mastering Robot Manipulation workshop at @corl_conf on Saturday! If you want a (very) short intro to DPPO, here's the 5-ish minute presentation we gave at the workshop.

[Lars Ankile @larsankile]

Elated to share our work "From Imitation to Refinement: Residual RL for Precise Assembly"!

We show how combining behavior cloning with residual RL enables precise robot manipulation, improving success rates from ~5-50% to >95% on challenging assembly tasks.

Read on for more details, or skip to the paper: https://t.co/olV4EoXEOg and project website: https://t.co/iKc9xAXaJL

[Joseph Lim @JosephLim_AI]

Do you work on robotics? Do you like robots? Then, visit Korea next year!

We (@ryoo_michael @gupta_abhinav_ @SongShuran Haewon and more) are organizing CoRL 2025 in Seoul, Korea!!

#CoRL @corl_conf #robotics

[Younghyo Park @younghyo_park]

Collect robot demos from anywhere through AR!

Excited to introduce 🎯DART, Dexterous AR Teleoperation interface enabling anyone to teleoperate robots in cloud-hosted simulation.

With DART, anyone can collect robot demos anywhere, anytime, for multiple robots and tasks in one sitting. Every data is automatically logged on our open-sourced cloud database DexHub for public use. https://t.co/bJ8N2C3xfc 🧵[1/n]