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cs.RO2026
OmniDex: Scaling Dexterous Hand Grasping to Diverse Cluttered Scenes
Naiyu Fang, Zhongjin Luo, Yuxin Mo +7
Dexterous grasping is the foundational primitive in embodied AI, demanding massive data to train robust models. As real-world data collection is expensive, simulation has become th…
cs.RO2026
Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes
Tongyan Fang, Siyuan Huang, Naiyu Fang +6
When pretrained VLA policies are fine-tuned through online RL, each rollout episode produces only a single binary outcome (success or failure), yet the actor update requires per-tr…