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cs.RO2026
Efficient On-policy Visual-RL via Stochastic Decoupled Policy Gradient
Haoxiang You, Yilang Liu, Davis Zong +5
We present the stochastic decoupled policy gradient (SDPG), a lightweight visual reinforcement learning (RL) method that trains diverse visuomotor control policies end-to-end withi…
cs.RO2026
OrbiSim: World Models as Differentiable Physics Engines for Embodied Intelligence
Jiajian Li, Jingyuan Huang, Junru Gong +3
We present OrbiSim, a novel robotic simulation paradigm that redefines world models as a fully differentiable physics engine for embodied intelligence. Unlike prior world models th…