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cs.RO2026
MAGNIFIED: RL Fine-tuning of Multimodal Large Language Models for Motion Planning
Letian Chen, Yiren Lu, Justin Fu +5
Multi-modal Large Language Models (MLLMs) have demonstrated remarkable capabilities in semantic understanding and common sense reasoning, making them promising candidates for solvi…
cs.RO2025
Faster Model Predictive Control via Self-Supervised Initialization Learning
Zhaoxin Li, Xiaoke Wang, Letian Chen +3
Model Predictive Control (MPC) is widely used in robot control by optimizing a sequence of control outputs over a finite-horizon. Computational approaches for MPC include determini…
cs.RO2025
ELEMENTAL: Interactive Learning from Demonstrations and Vision-Language Models for Reward Design in Robotics
Letian Chen, Nina Moorman, Matthew Gombolay
Reinforcement learning (RL) has demonstrated compelling performance in robotic tasks, but its success often hinges on the design of complex, ad hoc reward functions. Researchers ha…