5 papers · 1 filter
ChunkTrust: Adapting Execution Horizons for Robot Policies with Action-Expert Evidence
Fanding Huang, Jingyan Jiang, Shifeng Bao +13
Robot foundation policies predict action chunks, but how many actions to execute before replanning depends on the current task phase. We introduce ChunkTrust, which treats the exec…
RoboHarn-Evo: Evolving Hierarchical Physical Knowledge for Self-Improving Robotic Manipulation
Shifeng Bao, Fanding Huang, Yihan Lin +7
Vision-language models can coordinate long-horizon robot manipulation, yet successful task reasoning still depends on whether local physical interactions produce the intended effec…
ChainVLA: Chaining Vision-Language-Action Queries through a Unified Execution State for Long-Horizon Manipulation
Yuzhi Huang, Weijue Bu, Ziyi Xiong +4
Humans perform long-horizon manipulation by retaining knowledge of what earlier actions have established while continuously adapting the motion underway. By contrast, action-chunke…
PRM-as-a-Judge: A Dense Evaluation Paradigm for Fine-Grained Robotic Auditing
Yuheng Ji, Yuyang Liu, Huajie Tan +15
Current robotic evaluation is still largely dominated by binary success rates, which collapse rich execution processes into a single outcome and obscure critical qualities such as…
IGen: Scalable Data Generation for Robot Learning from Open-World Images
Chenghao Gu, Haolan Kang, Junchao Lin +10
The rise of generalist robotic policies has created an exponential demand for large-scale training data. However, on-robot data collection is labor-intensive and often limited to s…