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cs.RO2026
Conditional Trajectory Peaks: Single-Pass Multimodal Policies over Action Chunks
Di Wu, Rongtian Shen, Ping Liu +4
Multimodal imitation learning requires diverse executable futures under the same observation and consistent behavior across replanning cycles. We present Conditional Trajectory Pea…
cs.RO2026
Execution-Aligned Progressive Noise for Consistent Asynchronous Replanning in Generative Robot Policies
Di Wu, Ping Liu, Xuhua Chen +3
Continuous asynchronous replanning is essential for real-time generative robot policies, but independent stochastic initialization can cause mode switching and inconsistent continu…
cs.RO2026
Toward Real-Time VLAs: Stage-Aware Two-Step Flow Denoising and System-Level Evaluation
Di Wu, Rongtian Shen, Ping Liu +8
Vision-language-action (VLA) models face a timing gap between low-rate inference and high-rate robot execution. We characterize this gap through end-to-end latency measurements of…