25 citations · 40 across the 23 of their papers we have counts for
4 papers · 1 filter
-StepNFT: Wider Space Needs Finer Steps in Online RL for Flow-based VLAs
Siting Wang, Xiaofeng Wang, Zheng Zhu +7
Flow-based vision-language-action (VLA) models excel in embodied control but suffer from intractable likelihoods during multi-step sampling, hindering online reinforcement learning…
Swimming Under Constraints: A Safe Reinforcement Learning Framework for Quadrupedal Bio-Inspired Propulsion
Xinyu Cui, Fei Han, Hang Xu +9
Bio-inspired aquatic propulsion offers high thrust and maneuverability but is prone to destabilizing forces such as lift fluctuations, which are further amplified by six-degree-of-…
Sim2Sea: Sim-to-Real Policy Transfer for Maritime Vessel Navigation in Congested Waters
Xinyu Cui, Xuanfa Jin, Xue Yan +7
Autonomous navigation in congested maritime environments is a critical capability for a wide range of real-world applications. However, it remains an unresolved challenge due to co…
Enhancing Efficiency and Propulsion in Bio-mimetic Robotic Fish through End-to-End Deep Reinforcement Learning
Xinyu Cui, Boai Sun, Yi Zhu +5
Aquatic organisms are known for their ability to generate efficient propulsion with low energy expenditure. While existing research has sought to leverage bio-inspired structures t…