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cs.RO2026
Gaze Prompts: Temporally Dense Human Attention for Vision-Language-Action Fine-Tuning
Yihan Zhou, Rui Yan, Mingcong Li +4
Vision-Language-Action (VLA) fine-tuning pairs images with actions at every step, yet typically provides only a task-level language instruction, leaving moment-to-moment visual rel…
cs.RO2026
DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion
Run Wang, Alapati Tuerxun, Shuo Liu +4
This paper presents dynamics-relaxed model predictive control (DR-MPC), a novel MPC formulation for legged locomotion, and a tailored interior-point method (IPM) solver. The formul…
cs.RO2025
Learning to Drift with Individual Wheel Drive: Maneuvering Autonomous Vehicle at the Handling Limits
Yihan Zhou, Yiwen Lu, Bo Yang +2
Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement…