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cs.RO2026
PerturBot: Breaking Shortcut Priors in Vision-Language-Action Models with Perturbative Training
Mingyu Liu, Chonghao Sima, Tianjian Feng +4
A vision--language--action (VLA) policy can complete complex tasks while ignoring the evidence that should determine its actions. An object held near the wrist camera can displace…
cs.RO2026
Perfect Demo Makes Poor Teacher: Learning Robust Alignment from Critical Motion Segments
Mingyu Liu, Zeju Li, Jiuhe Shu +4
Expert demonstrations are widely assumed to be the gold standard for robot imitation learning. Yet for fine-grained manipulation such as insertion, stacking, and alignment, we unco…
cs.CV2026
OmniJigsaw: Enhancing Omni-Modal Reasoning via Modality-Orchestrated Reordering
Yiduo Jia, Muzhi Zhu, Hao Zhong +7
To extend the reinforcement learning post-training paradigm to omni-modal models for concurrently bolstering video-audio understanding and collaborative reasoning, we propose OmniJ…