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cs.RO2026
PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking
Junnan Nie, Jiayi Li, Jiachen Zhang +5
Recent vision-language-action and diffusion-based robot policies often use action chunking, where each policy query predicts a sequence of future actions and the robot executes an…
cs.RO2026
BAT-Nav: Belief-Based Arbitration and Termination via Remaining Discoverability in Multi-Goal Semantic Navigation
Xi Lin, Kangyi Wu, Jiayi Li +3
Multi-goal semantic navigation couples searches through a shrinking horizon: effort spent on one request can make another effectively undiscoverable. Discoverability therefore depe…