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cs.RO2025
MoTVLA: A Vision-Language-Action Model with Unified Fast-Slow Reasoning
Wenhui Huang, Changhe Chen, Han Qi +3
Integrating visual-language instructions into visuomotor policies is gaining momentum in robot learning for enhancing open-world generalization. Despite promising advances, existin…
cs.RO2025
Compose by Focus: Scene Graph-based Atomic Skills
Han Qi, Changhe Chen, Heng Yang
A key requirement for generalist robots is compositional generalization - the ability to combine atomic skills to solve complex, long-horizon tasks. While prior work has primarily…
cs.RO2025
Inference-Time Enhancement of Generative Robot Policies via Predictive World Modeling
Han Qi, Haocheng Yin, Aris Zhu +2
We present Generative Predictive Control (GPC), an inference-time method for improving pretrained behavior-cloning policies without retraining. GPC augments a frozen diffusion poli…