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cs.RO2026
In-Context Model Predictive Generation: Open-Vocabulary Motion Synthesis from Language Models to Physics
Xiaomeng Fu, Junfan Lin, Yang Liu +4
Synthesizing human motion from textual descriptions is essential for immersive digital applications, yet existing methods face a persistent trade-off between semantic fidelity and…
cs.RO2026
ARP: Enhancing Quantized Skill Abstractions via Visual Alignment and Iterative Refinement for Robotic Manipulation
Yuntian Wang, Zesheng Jia, Yuhui Duan +5
Learning visuomotor policies for long-horizon manipulation remains a fundamental challenge. Recent skill-based imitation learning methods based on discrete quantization have shown…
cs.RO2026
RoVLA: Multi-Consistency Constraints for Robust Vision-Language-Action Models
Jingzhou Luo, Yifan Wen, Yongjie Bai +3
Vision-Language-Action (VLA) models have shown strong performance on embodied manipulation, yet they remain brittle under visual observation changes, paraphrased language instructi…