5 papers · 2 filters
Back on Track: Deployment-time Policy Improvement via World Model Planning
Colton Crosby, Hao Wang, Mac Schwager +1
State-of-the-art visuomotor policies are increasingly capable of executing complex tasks, yet can fail during deployment in ways they cannot predict or recover from on their own. I…
IOI: Decoupling Kinematics and Physics for Interactive World Models
Chengyu Bai, Peidong Jia, Tiecheng Guo +11
Developing generalist embodied agents requires interactive environments providing visually realistic feedback and accurate action-conditioned dynamics. Interactive world models add…
MV-WAM: Manifold-Aware World Action Model with Value Augmentation
Jintao Chen, Peidong Jia, Qingpo Wuwu +13
Achieving robust and generalizable manipulation across diverse environments remains a fundamental challenge in embodied robotics. Recent world action models achieve strong in-domai…
Offline Policy Evaluation for Manipulation Policies via Discounted Liveness Formulation
Hao Wang, Joshua Bowden, Colton Crosby +1
Policy evaluation is a fundamental component of the development and deployment pipeline for robotic policies. In modern manipulation systems, this problem is particularly challengi…
VEGA: Visual Encoder Grounding Alignment for Spatially-Aware Vision-Language-Action Models
Hao Wang, Xiaobao Wei, Jingyang He +10
Precise spatial reasoning is fundamental to robotic manipulation, yet the visual backbones of current vision-language-action (VLA) models are predominantly pretrained on 2D image d…