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cs.RO2026
X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching
Tianyu Yang, Yiming Zeng, Wenzhe Cai +5
Pretraining navigation diffusion policies rely on large-scale expert demonstrations. These data are typically generated by a fully-informed oracle planner suited to a single nomina…
cs.RO2026
Cortex: A Bidirectionally Aligned Embodied Agent Framework for Long-horizon Manipulation
Jiaqi Peng, Xiqian Yu, Delin Feng +10
While recent Vision-Language-Action (VLA) models show promise toward generalist manipulation policies, they struggle with long-horizon tasks due to their Markovian nature-relying s…