4 papers · 2 filters
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…