3 papers
cs.RO2026
Scaling Sim-to-Real Reinforcement Learning for Robot VLAs with Generative 3D Worlds
Andrew Choi, Xinjie Wang, Zhizhong Su +1
The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA)…
cs.RO2025
Learning Multi-Stage Pick-and-Place with a Legged Mobile Manipulator
Haichao Zhang, Haonan Yu, Le Zhao +4
Quadruped-based mobile manipulation presents significant challenges in robotics due to the diversity of required skills, the extended task horizon, and partial observability. After…
cs.LG2025
Functional Critics Are Essential for Actor-Critic: From Off-Policy Stability to Efficient Exploration
Qinxun Bai, Yuxuan Han, Wei Xu +1
The actor-critic (AC) framework has achieved strong empirical success in off-policy reinforcement learning but suffers from the "moving target" problem, where the evaluated policy…