From the 1 of 19 linked papers with an AI index.
19 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…
MVP-LAM: Learning Action-Centric Latent Action via Cross-Viewpoint Reconstruction
Jung Min Lee, Dohyeok Lee, Seokhun Ju +5
Latent actions learned from diverse human videos serve as pseudo-labels for vision-language-action (VLA) pretraining, but provide effective supervision only if they remain informat…
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…
From Human Videos to Robot Manipulation: A Survey on Scalable Vision-Language-Action Learning with Human-Centric Data
Zhiyuan Feng, Qixiu Li, Huizhi Liang +12
Recent progress in generalizable embodied control has been driven by large-scale pretraining of Vision-Language-Action (VLA) models. However, most existing approaches rely on large…
GEAR: Granularity-Adaptive Advantage Reweighting for LLM Agents via Self-Distillation
Sijia Li, Yuchen Huang, Zifan Liu +7
Reinforcement learning has become a widely used post-training approach for LLM agents, where training commonly relies on outcome-level rewards that provide only coarse supervision.…