5 papers
Revisiting Embodied Chain-of-Thought for Generalizable Robot Manipulation
Nan Sun, Yuan Zhang, Yongkun Yang +10
Embodied chain-of-thought (CoT) aims to bridge linguistic reasoning and robotic control, but its effective form and integration strategy remain underexplored. In this paper, we rev…
Ratio-Variance Regularized Policy Optimization
Yu Luo, Shuo Han, Yihan Hu +5
Standard on-policy reinforcement learning relies on heuristic clipping to enforce trust regions, but this mechanism imposes a severe cost by indiscriminately truncating high-return…
What Matters in Building Vision-Language-Action Models for Generalist Robots
Xinghang Li, Peiyan Li, Long Qian +10
To utilize Foundation Vision Language Models (VLMs) for robotic tasks and motion planning, the community has proposed different methods for injecting action components into VLMs an…
Scaling World Model for Hierarchical Manipulation Policies
Qian Long, Yueze Wang, Jiaxi Song +13
Vision-Language-Action (VLA) models are promising for generalist robot manipulation but remain brittle in out-of-distribution (OOD) settings, especially with limited real-robot dat…
Sparse Spectral Training and Inference on Euclidean and Hyperbolic Neural Networks
Jialin Zhao, Yingtao Zhang, Xinghang Li +2
The growing demands on GPU memory posed by the increasing number of neural network parameters call for training approaches that are more memory-efficient. Previous memory reduction…