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cs.RO2026
Imitation Learning of Avoidance Modes for Efficient Multimodal Model Predictive Control
Changyu Lee, Byung-Kwan Lee, Kanghoon Yoon
Multimodal model predictive control (MM-MPC) avoids local minima among moving obstacles by solving one optimal control problem (OCP) per combination of avoidance sides, so its comp…
cs.RO2026
When to Switch: Reliable Action-Chunk Extension for Vision-Language-Action Models
Seonghoon Yu, Dongwon Kim, HyungRok Jung +4
Vision-Language-Action (VLA) models serve as unified policies for robotic manipulation, yet their expensive inference forces robots to pause between policy calls, resulting in stop…