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cs.RO2026
Continuous-Time Motion Planning and Steering with Global Convergence
Mohsen Amiri, Sima Didari, Davoud Ataee Tarzanagh +2
Motion planning is central to robotics, and it is increasingly used to correct the motions proposed by learned planners and policies. In both uses, constraints must hold at every i…
cs.RO2026
ReVeal: A Reconstruction-Aware Real-to-Sim Framework for VLA Policy Evaluation
Xinyi Wang, Heng Hao, Wenjun Hu +5
Simulation-based evaluation provides a scalable and repeatable alternative to real-world evaluation of vision-language-action (VLA) policies. However, reconstruction errors can cau…
cs.CL2026
TLPO: Token-Level Policy Optimization for Mitigating Language Confusion in Large Language Models
Jinho Choo, JunSeung Lee, Jimyeong Kim +3
Large language models (LLMs) demonstrate strong multilingual capabilities, yet often fail to consistently generate responses in the intended language, exhibiting a phenomenon known…