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cs.RO2026
LEAP: Gradient Flow Augmented Lagrangian Trajectory Optimization for Contact Constrained Robots
César E. Ramos Chuquiure, Ryan Tsai, Yutong Zhou +8
Generating dynamically feasible motions for legged and manipulating robots requires solving a large, nonlinear, non-convex optimal control problem (OCP) in which contact wrenches m…
cs.CL2026
Beyond APIs: Probing the Limits of MLLMs in Physical Tool Use
Zhixin Ma, Yutong Zhou, Yongqi Li +2
Multimodal Large Language Models (MLLMs) excel at utilizing digital APIs and increasingly serve as the "brain" of embodied AI, instructing robots to interact with the physical worl…
cs.LG2026
Representation Collapse in Sequential Post-Training of Large Language Models
Yichen Liu, Mingyu Chen, Hao Wang +7
Large language models are now adapted through chains of post-training stages rather than through a single instruction-tuning pass. This paper studies whether such sequential post-t…