4 papers
WorldSimProbe: Diagnosing Simulator Faithfulness in Action-Conditioned World Models for Embodied Manipulation
Peterson Co, Sicheng Hu, Chunxuan Jiao +17
Action-conditioned world models (ACWMs) promise to provide embodied AI with scalable predictive simulators for planning, policy evaluation, and data generation. Realizing this prom…
FORCE: Efficient VLA Reinforcement Fine-Tuning via Value-Calibrated Warm-up and Self-Distillation
Shuyi Zhang, Yunfan Lou, Hongyang Cheng +8
Vision-Language-Action (VLA) models are often constrained by the imitation ceiling imposed by sub-optimal data. While Reinforcement Learning (RL) fine-tuning can surpass this limit…
RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation
Shihan Wu, Xuecheng Liu, Shaoxuan Xie +81
Despite the critical role of bimanual manipulation in endowing robots with human-like dexterity, large-scale and diverse datasets remain scarce due to the significant hardware hete…
Data-Driven MPC with Data Selection for Flexible Cable-Driven Robotic Arms
Huayue Liang, Yanbo Chen, Hongyang Cheng +5
Flexible cable-driven robotic arms (FCRAs) offer dexterous and compliant motion. Still, the inherent properties of cables, such as resilience, hysteresis, and friction, often lead…