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ActSafeGuard: Differentiable and Training-Aligned Constraint Enforcement for Flow-Matching Policies
Jianming Ma, Rongjun Jin, Xiaxi Si +3
Vision-Language-Action (VLA) and World-Action Models (WAMs) have demonstrated strong capabilities in general-purpose robotic manipulation, yet their generated actions may violate h…
P3: Probabilistic Policy Propagation for Stable VAE-Based Robot Learning
Liyun Yan, Jianming Ma, Yang Zhang +5
Variational Autoencoders are widely used to encode high-dimensional and noisy observations in robotics. However, their stochastic latent creates a mismatch with Proximal Policy Opt…
PolyFlow: Safe and Efficient Polytope-Constrained Flow Matching with Constraint Embedding and Projection-free Update
Jianming Ma, Qiyue Yang, Yang Zhang +4
While flow-based generative models have demonstrated strong performance across a wide range of domains, deploying them in safety-critical physical systems remains challenging due t…
UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
Yufei Jia, Zhanxiang Cao, Mingrui Yu +48
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-ce…
HierKick: Hierarchical Reinforcement Learning for Vision-Guided Soccer Robot Control
Yizhi Chen, Zheng Zhang, Zhanxiang Cao +7
Controlling soccer robots involves multi-time-scale decision-making, which requires balancing long-term tactical planning and short-term motion execution. Traditional end-to-end re…
Democratizing Music Therapy: LLM-Based Automated EEG Analysis and Progress Tracking for Low-Cost Home Devices
Huixin Xue, Guangjun Xu, Shihong Ren +5
Home-based music therapy devices require accessible and cost-effective solutions for users to understand and track their therapeutic progress. Traditional physiological signal anal…