3 papers
cs.RO2026
OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policies
Kelin Yu, Haode Zhang, Harish Ravichandar +2
Visual policies learned from human videos, teleoperation, and robot demonstrations offer scalable motion priors, but often fail in contact-rich manipulation, where success signific…
cs.CV2026
Beyond Static Vision: Scene Dynamic Field Unlocks Intuitive Physics Understanding in Multi-modal Large Language Models
Nanxi Li, Xiang Wang, Yuanjie Chen +3
While Multimodal Large Language Models (MLLMs) have demonstrated impressive capabilities in image and video understanding, their ability to comprehend the physical world has become…
cs.LG2025
Robust Reward Alignment via Hypothesis Space Batch Cutting
Zhixian Xie, Haode Zhang, Yizhe Feng +1
Reward design in reinforcement learning and optimal control is challenging. Preference-based alignment addresses this by enabling agents to learn rewards from ranked trajectory pai…