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cs.RO2026
CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains
Qixin Zeng, Hongyin Zhang, Shangke Lyu +3
Robust disturbance rejection remains a longstanding challenge in humanoid locomotion, particularly on unstructured terrains where sensing is unreliable and model mismatch is pronou…
cs.RO2025
RobustVLA: Robustness-Aware Reinforcement Post-Training for Vision-Language-Action Models
Hongyin Zhang, Shuo Zhang, Junxi Jin +3
Vision-Language-Action (VLA) models have recently emerged as powerful general-purpose policies for robotic manipulation, benefiting from large-scale multi-modal pre-training. Howev…
cs.RO2025
Balancing Signal and Variance: Adaptive Offline RL Post-Training for VLA Flow Models
Hongyin Zhang, Shiyuan Zhang, Junxi Jin +4
Vision-Language-Action (VLA) models based on flow matching have shown excellent performance in general-purpose robotic manipulation tasks. However, the action accuracy of these mod…