7 papers
WAM-OPD: On-Policy Distillation for World Action Models
Liuhaichen Yang, Zhuang Jiang, Chenchao Sheng +1
World action models (WAMs) couple visual future prediction with robot action generation, but accelerated students can lose task capabilities during distillation and later encounter…
Guided Action Flow: Q-Guided Inference for Flow-Matching Vision-Language-Action Policies
Liuhaichen Yang, Zhuang Jiang, Chenchao Sheng +1
Deploying a pretrained flow-matching vision-language-action (VLA) policy on a particular robot and workspace often calls for task-specific adaptation, while full- policy fine-tunin…
SignVLA: Real-Time Sign Language-Guided Robotic Manipulation via Attention LSTM and Vision-Language-Action Models
Ningwei Bai, Xinyu Tan, Harry Gardner +6
Vision-Language-Action (VLA) models enable robots to execute manipulation tasks from natural-language instructions grounded in visual observations. However, existing VLA interfaces…
SignVLA: A Gloss-Free Vision-Language-Action Framework for Real-Time Sign Language-Guided Robotic Manipulation
Xinyu Tan, Ningwei Bai, Harry Gardener +6
We present, to our knowledge, the first sign language-driven Vision-Language-Action (VLA) framework for intuitive and inclusive human-robot interaction. Unlike conventional approac…
Disturbance observer-based tracking control for roll-to-roll slot die coating systems under gap and pump rate disturbances
Zezhi Tang, Christopher Passmore, Andrew I Campbell +4
Roll-to-roll slot die coating is a widely used industrial manufacturing technique applied in a diverse range of applications such as the production of lithium-ion batteries, solar…
Deep Reinforcement Learning Optimization for Uncertain Nonlinear Systems via Event-Triggered Robust Adaptive Dynamic Programming
Ningwei Bai, Chi Pui Chan, Qichen Yin +3
This work proposes a unified control architecture that couples a Reinforcement Learning (RL)-driven controller with a disturbance-rejection Extended State Observer (ESO), complemen…