2 papers
cs.RO2026
MPC-Injection: Biasing Off-Policy Locomotion RL Toward Controller-Induced Behavior Basins
Roy Xing, Seyoung Ree, Brian Plancher
Reinforcement learning (RL) for locomotion frequently converges to locally optimal but undeployable behaviors, such as vibrating limbs or scooting on the torso, that maximize retur…
cs.RO2026
ASCII Art Turns LLMs into VLA Controllers
Yitao Jiang, Roy Xing, Luyang Zhao +3
Vision--Language--Action (VLA) controllers are often built by extending vision--language models (VLMs) with action supervision, relying on multimodal backbones with large data and…