diffusion models 1human-in-the-loop 1policy adaptation 1reinforcement learning 1vision-language-action 1
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cs.RO2026
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…
cs.RO2026
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…