9 papers · 1 filter
World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems
Runze Li, Hongyin Zhang, Junxi Jin +5
Vision-Language-Action (VLA) models have emerged as a promising paradigm for building embodied agents that ground perception and language into action. However, most existing approa…
VAMPO: Policy Optimization for Improving Visual Dynamics in Video Action Models
Zirui Ge, Pengxiang Ding, Baohua Yin +16
Video action models are an appealing foundation for Vision--Language--Action systems because they can learn visual dynamics from large-scale video data and transfer this knowledge…
Discovering Self-Protective Falling Policy for Humanoid Robot via Deep Reinforcement Learning
Diyuan Shi, Shangke Lyu, Donglin Wang
Humanoid robots have received significant research interests and advancements in recent years. Despite many successes, due to their morphology, dynamics and limitation of control p…
Dynamic Adaptive Legged Locomotion Policy via Decoupling Reaction Force Control and Gait Control
Renjie Wang, Shangke Lyu, Donglin Wang
While Reinforcement Learning (RL) has achieved remarkable progress in legged locomotion control, it often suffers from performance degradation in out-of-distribution (OOD) conditio…
Integrating Trajectory Optimization and Reinforcement Learning for Quadrupedal Jumping with Terrain-Adaptive Landing
Renjie Wang, Shangke Lyu, Xin Lang +2
Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies…
Robust Online Residual Refinement via Koopman-Guided Dynamics Modeling
Zhefei Gong, Shangke Lyu, Pengxiang Ding +2
Imitation learning (IL) enables efficient skill acquisition from demonstrations but often struggles with long-horizon tasks and high-precision control due to compounding errors. Re…