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cs.RO2026
Verify, Act, Distill: Turning Test-Time Compute into Test-Time Adaptation for Vision-Language-Action Models
Kaneyoshi Hiratsuka, Satoshi Yamamori, Jun Morimoto
Test-time compute (TTC), which scores multiple candidate actions at inference time, is a powerful way to improve the execution performance of vision-language-action (VLA) models, b…
cs.RO2026
Actuator Reality Shaping for Zero-Shot Sim-to-Real Robot Learning
Satoshi Yamamori, Koji Ishihara, Kenjiro Minamikawa +4
Sim-to-real transfer in robot learning is often limited by discrepancies between the ideal actuator dynamics assumed during policy training and the nonlinear, hardware-dependent be…