5 papers
Measuring the Value of World-Model Updates: A Counterfactual Utility Protocol for Continual Adaptation
Anqi Peter Li, Kaden Kim
Continual world models must decide whether new data justify changing the model. Fixed replay schedules and prediction-error triggers specify when to update, but neither reveals the…
SPAN-Nav: Generalized Spatial Awareness for Versatile Embodied Navigation
Jiahang Liu, Tianyu Xu, Jiawei Chen +9
Recent embodied navigation approaches leveraging Vision-Language Models (VLMs) demonstrate strong generalization in versatile Vision-Language Navigation (VLN). However, reliable pa…
Robometer: Scaling General-Purpose Robotic Reward Models via Trajectory Comparisons
Anthony Liang, Yigit Korkmaz, Jiahui Zhang +14
General-purpose robot reward models are typically trained to predict absolute task progress from expert demonstrations, providing only local, frame-level supervision. While effecti…
Do What You Say: Steering Vision-Language-Action Models via Runtime Reasoning-Action Alignment Verification
Yilin Wu, Anqi Li, Tucker Hermans +3
Reasoning Vision Language Action (VLA) models improve robotic instruction-following by generating step-by-step textual plans before low-level actions, an approach inspired by Chain…
PEEK: Guiding and Minimal Image Representations for Zero-Shot Generalization of Robot Manipulation Policies
Jesse Zhang, Marius Memmel, Kevin Kim +6
Robotic manipulation policies often fail to generalize because they must simultaneously learn where to attend, what actions to take, and how to execute them. We argue that high-lev…