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cs.RO2026
RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation
Guodong Zhang, Qichen He, Wenyuan Xie +6
Bridging abstract semantics and precise physical control remains a fundamental challenge in open-world robotic manipulation. While recent data-driven policies show promise, their r…
cs.RO2026
Recovering Hidden Reward in Diffusion-Based Policies
Yanbiao Ji, Qiuchang Li, Yuting Hu +7
This paper introduces EnergyFlow, a framework that unifies generative action modeling with inverse reinforcement learning by parameterizing a scalar energy function whose gradient…
cs.RO2026
Dejavu: Towards Experience Feedback Learning for Embodied Intelligence
Shaokai Wu, Yanbiao Ji, Qiuchang Li +7
Embodied agents face a fundamental limitation: once deployed in real-world environments, they cannot easily acquire new knowledge to improve task performance. In this paper, we pro…