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cs.RO2026
Qwen-VLA: Unifying Vision-Language-Action Modeling across Tasks, Environments, and Robot Embodiments
Qiuyue Wang, Mingsheng Li, Jian Guan +37
Embodied intelligence is often studied through specialized models for individual tasks such as manipulation or navigation, resulting in fragmented capabilities and limited generali…
cs.RO2026
Verified Task-Space Motion Planning Under Joint-Space Constraints
Hanjiang Hu, Changliu Liu, Yebin Wang
Reactive task-space planners such as Bug2 operate with fixed Cartesian step sizes and are unaware of the manipulator's joint-angle limits. When the Jacobian is poorly conditioned,…
cs.RO2025
Offline Imitation Learning upon Arbitrary Demonstrations by Pre-Training Dynamics Representations
Haitong Ma, Bo Dai, Zhaolin Ren +2
Limited data has become a major bottleneck in scaling up offline imitation learning (IL). In this paper, we propose enhancing IL performance under limited expert data by introducin…