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cs.RO2026
ActionMap: Robot Policy Learning via Voxel Action Heatmap
Pei Yang, Hai Ci, Yanzhe Chen +3
Vision-language-action (VLA) models have advanced rapidly across backbones, training recipes, and data scale, yet the action decoder, which converts the backbone's hidden state int…
cs.RO2026
World-VLA-Loop: Closed-Loop Learning of Video World Model and VLA Policy
Xiaokang Liu, Zechen Bai, Hai Ci +2
Reinforcement learning (RL) can refine Vision-Language-Action (VLA) policies beyond behavior cloning, but real-world RL remains expensive due to extensive rollouts, resets, supervi…
cs.RO2025
H2R-Grounder: A Paired-Data-Free Paradigm for Translating Human Interaction Videos into Physically Grounded Robot Videos
Hai Ci, Xiaokang Liu, Pei Yang +2
Robots that learn manipulation skills from everyday human videos could acquire broad capabilities without tedious robot data collection. We propose a video-to-video translation fra…