5 papers · 1 filter
Barrier-Constrained Guidance For Real-time Asynchronous VLA Execution
Wenbo Yu, Jifan Li, Wenke Xia +5
While asynchronous execution enables VLA models to operate in real-time environments by predicting the next chunk during execution, it inevitably introduces boundary misalignment w…
Robo-ValueRL: Reliable Value Estimation for Offline-to-Online Reinforcement Learning
Wenke Xia, Pei Ren, Wenbo Yu +10
Offline-to-online reinforcement learning is promising for generalizable robotic manipulation, yet its full-stack complexity obscures reproduction and diagnosis. Within such systems…
Toward Scalable Terminal Task Synthesis via Skill Graphs
Zhiyuan Fan, Tinghao Yu, Yuanjun Cai +8
Terminal agents have demonstrated strong potential for autonomous command-line execution, yet their training remains constrained by the scarcity of high-quality and diverse executi…
GeCo-SRT: Geometry-aware Continual Adaptation for Robotic Cross-Task Sim-to-Real Transfer
Wenbo Yu, Wenke Xia, Weitao Zhang +1
Bridging the sim-to-real gap is important for applying low-cost simulation data to real-world robotic systems. However, previous methods are severely limited by treating each trans…
When would Vision-Proprioception Policies Fail in Robotic Manipulation?
Jingxian Lu, Wenke Xia, Yuxuan Wu +2
Proprioceptive information is critical for precise servo control by providing real-time robotic states. Its collaboration with vision is highly expected to enhance performances of…