5 papers · 1 filter
DRAM: Delta-rule Recurrent Associative Memory for Robot Manipulation Policies
Xinyu Zhao, Yixiang Shan, Tao Yang +5
Robotic manipulation is inherently history-dependent, yet most pretrained robotic policies condition on only the current observation or a short temporal window. Equipping such poli…
Decoupling Policy Extraction for Offline Reinforcement Learning
Xuyao Lin, Yixiang Shan, Jinru Duan +7
Offline RL methods commonly jointly train the actor and critic, where the critic is used to guide the actor toward higher-value actions. This coupled learning process is well motiv…
Rethink Before You Execute: Adaptive Execution for World Action Models
Feng Ye, Yiming Zhao, Yong Yu +5
World Action Models (WAMs) jointly predict future actions and the evolution of the environment. At each inference, a WAM generates a chunk of actions and the robot executes a fixed…
LaST-HD: Learning Latent Physical Reasoning from Scalable Human Data for Robot Manipulation
Jiaming Liu, Yinxi Wang, Chenyang Gu +15
Human-hand demonstrations provide a direct and scalable source of physical interaction data for robot learning. While manual retargeting is indispensable for establishing kinematic…
LaST-R1: Reinforcing Robotic Manipulation via Adaptive Physical Latent Reasoning
Hao Chen, Jiaming Liu, Zhonghao Yan +10
Robotic foundation models require reasoning over complex visual scenes to execute adaptive actions in dynamic environments. While recent studies on latent-reasoning Vision-Language…