7 papers · 1 filter
ReFPO: Reflow Regularization for Flow Matching Policy Gradients
Ge Wang, Yibo Peng, Fan Feng +10
We present Reflow-regularized Flow Matching Policy Gradients (ReFPO), a simple online RL method that adds explicit Reflow regularization to FPO for efficient flow-based control. We…
MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency
Jiahao Yang, Shenhao Yan, Fan Feng +5
Inverse kinematics (IK) remains a critical bottleneck for real-time robot manipulation. Classical numerical solvers achieve high geometric precision but often suffer from discontin…
Acting While Understanding: Asynchronous Semantic-Action Decoupling for Real-Time Vision-Language-Action Models
Shenhao Yan, Ge Wang, Qi Liu +7
Vision-Language-Action models (VLAs) have demonstrated strong task understanding and generalization in robotic manipulation, yet the high computational cost of full-model inference…
Elastic Queries Reinforcement Learning: Self-Aware Policy Execution for VLA Models
Ge Wang, Xinyu Tan, Xiang Li +11
Vision-language-action (VLA) models are powerful action generators for robot manipulation, but they are typically executed with fixed inference and replanning schedules. This rigid…
Learning Object Manipulation from Scratch via Contrastive Interaction
Tongle Shen, Caleb Chuck, Fan Feng +1
Contrastive Reinforcement Learning (CRL) has seen recent success in a wide variety of goal-conditioned robotics tasks by learning structured representations of the dynamics. Howeve…
SCAR: Self-Supervised Continuous Action Representation Learning
Hongjia Liu, Fan Feng, Minghao Fu +3
Despite the central role of action in embodied intelligence, learning transferable action representations from visual transitions remains a fundamental challenge, particularly when…
KoopmanFlow: Spectrally Decoupled Generative Control Policy via Koopman Structural Bias
Chengsi Yao, Ge Wang, Kai Kang +9
Generative Control Policies (GCPs) show immense promise in robotic manipulation but struggle to simultaneously model stable global motions and high-frequency local corrections. Whi…