4 papers
ENPIRE: Agentic Robot Policy Self-Improvement in the Real World
Wenli Xiao, Jia Xie, Tonghe Zhang +14
Achieving dexterous robotic manipulation in the real world heavily relies on human supervision and algorithm engineering, which becomes a central bottleneck in the pursuit of gener…
ReSkill: Reconciling Skill Creation with Policy Optimization in Agentic RL
Zelin He, Haotian Lin, Boran Han +6
Agentic reinforcement learning (RL) enables LLM agents to improve continuously from environment rewards, yet the resulting policies do not systematically accumulate reusable strate…
Self-Improving Vision-Language-Action Models with Data Generation via Residual RL
Wenli Xiao, Haotian Lin, Andy Peng +9
Supervised fine-tuning (SFT) has become the de facto post-training strategy for large vision-language-action (VLA) models, but its reliance on costly human demonstrations limits sc…
TD-M(PC): Improving Temporal Difference MPC Through Policy Constraint
Haotian Lin, Pengcheng Wang, Jeff Schneider +1
Model-based reinforcement learning algorithms that combine model-based planning and learned value/policy prior have gained significant recognition for their high data efficiency an…