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cs.RO2026
FLARE: A Failure-Aware Framework for Autonomous Correction and Recovery in Visual-Language Robotic Manipulation
Ganlong Zhao, Zijia Tang, Xingping Chen +3
Vision-Language-Action Models~(VLAs) have demonstrated significant promise in generalizing to complex, long-horizon robotic manipulation tasks. However, their performance remains b…
cs.RO2026
ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining
Hao Li, Ganlong Zhao, Yufei Liu +8
Vision-Language-Action (VLA) models benefit from large-scale and diverse embodied data, yet scaling robot trajectory collection is costly and labor-intensive. Recent advances show…
cs.RO2026
Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes
Tongyan Fang, Siyuan Huang, Naiyu Fang +6
When pretrained VLA policies are fine-tuned through online RL, each rollout episode produces only a single binary outcome (success or failure), yet the actor update requires per-tr…