7 papers
D3P: Dynamic Denoising Diffusion Policy via Reinforcement Learning
Shu-Ang Yu, Feng Gao, Yi Wu +2
Diffusion policies excel at learning complex action distributions for robotic visuomotor tasks, yet their iterative denoising process poses a major bottleneck for real-time deploym…
Spec-VLA: Speculative Decoding for Vision-Language-Action Models with Relaxed Acceptance
Songsheng Wang, Rucheng Yu, Zhihang Yuan +4
Vision-Language-Action (VLA) models have made substantial progress by leveraging the robust capabilities of Visual Language Models (VLMs). However, VLMs' significant parameter size…
What Can RL Bring to VLA Generalization? An Empirical Study
Jijia Liu, Feng Gao, Bingwen Wei +5
Large Vision-Language Action (VLA) models have shown significant potential for embodied AI. However, their predominant training via supervised fine-tuning (SFT) limits generalizati…
Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey
Chuqi Wang, Chao Yu, Xin Xu +11
With the real need of field exploration in large-scale and extreme outdoor environments, cooperative exploration tasks have garnered increasing attention. This paper presents a com…
Learning from Suboptimal Data in Continuous Control via Auto-Regressive Soft Q-Network
Jijia Liu, Feng Gao, Qingmin Liao +2
Reinforcement learning (RL) for continuous control often requires large amounts of online interaction data. Value-based RL methods can mitigate this burden by offering relatively h…
What Matters in Learning A Zero-Shot Sim-to-Real RL Policy for Quadrotor Control? A Comprehensive Study
Jiayu Chen, Chao Yu, Yuqing Xie +9
Executing precise and agile flight maneuvers is critical for quadrotors in various applications. Traditional quadrotor control approaches are limited by their reliance on flat traj…