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Try Once, Then Optimal: De-Redundified Procedure Memory for Cross-Episode Exploration Amortization
Haizhou Ge, Haochen Ouyang, Zhixing Chen +6
Manipulating objects with hidden internal state, such as a latched microwave, forces a robot to probe before it can act. Yet a robot that has solved an instance once re-runs the sa…
QuadVerse: An Integrated Framework Aligning Visual-Physical Reality for Quadruped Simulation
Yuxiang Chen, Yuanhao Wang, Ziheng Zhang +6
Simulation is central to robot learning, yet the sim-to-real gap remains a major bottleneck. Existing approaches often tackle visual or dynamic gaps separately, overlooking how the…
When Video Misreads: Closed-Loop Distillation of Reading Heuristics for Exploratory Manipulation Trace QA
Haizhou Ge, Yufei Jia, Yue Li +5
Exploratory manipulation often turns an apparent failed attempt into the key evidence for what to do next. For example, a robot pulls a locked cabinet drawer, fails, and only succe…
GeoAlign: Beyond Semantics with State-Guided Spatial Alignment in VLA Models
Yizhi Chen, Zhanxiang Cao, Xinyi Peng +14
Current Vision--Language--Action (VLA) models often optimize for semantic grounding, whereas executable manipulation requires geometry-aware spatial alignment and dynamic affordanc…
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…
MuJoCoUni:Persistent Batched Runtime Primitives for MuJoCo
Yufei Jia, Junzhe Wu
We present MuJoCoUni, a downstream MuJoCo distribution for online robot learning and batched physics evaluation. Alongside the open-loop batched trajectory generation already provi…