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cs.RO2026
LIRA: Local Cross-Layer Information Routing for Vision-Language-Action Decoding
Zhewei Zhang, Puyue Wang, Guanren Qiao +10
Vision-Language-Action (VLA) models transform representations from pretrained vision-language models (VLMs) into robot actions, yet the interface that routes intermediate VLM featu…
cs.RO2026
HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation
Puyue Wang, Jiawei Hu, Yan Gao +7
Humanoid robots can suffer significant performance drops under small changes in dynamics, task specifications, or environment setup. We propose HoRD, a two-stage learning framework…