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cs.RO2026
Reachability-Guided Sequential Quadratic Programming-Guarded Model Predictive Path Integral for Safe Nonlinear Predictive Control
Alexandre Didier, Jason J. Choi, Namhoon Cho +2
Safe robot control often requires combining long-horizon performance optimization with hard state and input constraints, but existing approaches tend to address this tradeoff parti…
cs.RO2025
Hierarchical Vision Language Action Model Using Success and Failure Demonstrations
Jeongeun Park, Jihwan Yoon, Byungwoo Jeon +6
Prior Vision-Language-Action (VLA) models are typically trained on teleoperated successful demonstrations, while discarding numerous failed attempts that occur naturally during dat…