From the 1 of 12 linked papers with an AI index.
12 papers
UniSteer: Unified Noise Steering for Efficient Human-Guided VLA Adaptation
Junjie Lu, Xinyao Qin, Yuhua Jiang +6
The paper introduces UniSteer, a framework that converts human corrective actions into noise targets to guide a lightweight noise-prediction actor while simultaneously training it…
Beyond Monotonic Progress: Retry-Supervised Value Learning for Robot Imitation
Xinyao Qin, Junjie Lu, Kaixin Wang +7
Human demonstrations for robot imitation learning often contain mistakes and corrective behaviors, such as imprecise grasps, object misalignment, unstable contact, and repeated att…
Beyond Pixel Histories: World Models with Persistent 3D State
Samuel Garcin, Thomas Walker, Steven McDonagh +5
Interactive world models continually generate video by responding to a user's actions, enabling open-ended generation capabilities. However, existing models typically lack a 3D rep…
Reinforcing VLAs in Task-Agnostic World Models
Yucen Wang, Rui Yu, Fengming Zhang +5
Post-training Vision-Language-Action (VLA) models via reinforcement learning (RL) in learned world models has emerged as an effective strategy to adapt to new tasks without costly…
WarmPrior: Straightening Flow-Matching Policies with Temporal Priors
Sinjae Kang, Chanyoung Kim, Kaixin Wang +2
Generative policies based on diffusion and flow matching have become a dominant paradigm for visuomotor robotic control. We show that replacing the standard Gaussian source distrib…
VLA-GSE: Boosting Parameter-Efficient Fine-Tuning in VLA with Generalized and Specialized Experts
Yuhua Jiang, Junjie Lu, Xinyao Qin +4
Vision-language-action (VLA) models inherit rich visual-semantic priors from pre-trained vision-language backbones, but adapting them to robotic control remains challenging. Full f…