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cs.RO2026
Learning to Explore Hidden Kinematics for Articulated Object Manipulation
Ruiyao Liu, Boshu Lei, Zhuoyang Pan +1
The kinematics of an articulated object is often ambiguous from vision alone. Interaction resolves the ambiguity, and active perception methods exploit this by searching for the si…
cs.LG2026
Reinforcement Learning for Flow-Matching Policies with Density Transport
Boshu Lei, Kostas Daniilidis, Antonio Loquercio
We present an online reinforcement learning (RL) algorithm for fine-tuning flow-matching policies in continuous-control problems. Our key insight is to view RL-based policy improve…