8 papers · 1 filter
HaWMPO: Hallucination-Aware World Model-based Policy Optimization for Generalist Robot Policy
Zengjue Chen, Peidong Liu, Jiawei Li +1
Generalist robot policies have demonstrated strong generalization across robotic manipulation tasks, yet their success rates remain limited in com- plex long-horizon scenarios. Rec…
RAPAC-DP: Response-Aligned Pending-Action Compensation for Diffusion Policies under Delayed Execution
Tao Wang, Wei Wang, Jianhui Wang +4
Cloud-side inference expands the computational resources available to imitation-learning policies, but communication and inference latencies create a mismatch between prediction an…
Beyond Flat Policies: Hierarchical Post-Training for Embodied Agents in Robotic Manipulation
He Kong, Zengjue Chen, Qi Wang +6
Vision-language-action (VLA) models have demonstrated remarkable capabilities in robotic manipulation by leveraging pretrained vision-language models. However, existing post-traini…
World Action Models are Zero-shot Policies
Seonghyeon Ye, Yunhao Ge, Kaiyuan Zheng +33
State-of-the-art Vision-Language-Action (VLA) models excel at semantic generalization but struggle to generalize to unseen physical motions in novel environments. We introduce Drea…
Dual-Actor Fine-Tuning of VLA Models: A Talk-and-Tweak Human-in-the-Loop Approach
Piaopiao Jin, Qi Wang, Guokang Sun +3
Vision-language-action (VLA) models demonstrate strong generalization in robotic manipulation but face challenges in complex, real-world tasks. While supervised fine-tuning with de…
TGRPO :Fine-tuning Vision-Language-Action Model via Trajectory-wise Group Relative Policy Optimization
Zengjue Chen, Runliang Niu, He Kong +3
Visual-Language-Action (VLA) models have demonstrated strong cross-scenario generalization capabilities in various robotic tasks through large-scale pre-training and task-specific…
CarPlanner: Consistent Auto-regressive Trajectory Planning for Large-scale Reinforcement Learning in Autonomous Driving
Dongkun Zhang, Jiaming Liang, Ke Guo +5
Trajectory planning is vital for autonomous driving, ensuring safe and efficient navigation in complex environments. While recent learning-based methods, particularly reinforcement…
Effort Allocation for Deadline-Aware Task and Motion Planning: A Metareasoning Approach
Yoonchang Sung, Shahaf S. Shperberg, Qi Wang +1
In robot planning, tasks can often be achieved through multiple options, each consisting of several actions. This work specifically addresses deadline constraints in task and motio…