5 papers
CR-VLA-Force: Learning Control-aware Compliance VLA Model for Robust Contact-rich Robotic Manipulation
Zhaohong Mai, Chao Wang, Chao Zeng +4
Integrating visuomotor policies or Vision-Language-Action (VLA) models with force/torque (F/T) perception has demonstrated significant progress in imitation learning for robotic ma…
AnchorVLA: Bridging Discrete Decisions and Continuous Trajectories for Vision-Language-Action Planning
Qi Liu, Yabei Li, Hongsong Wang +2
Autonomous driving planning requires translating navigation intent, traffic rules, dynamic interactions, and language instructions into executable continuous trajectories. Vision-L…
HiL-ResRL: A Model-Agnostic Finetuning Adapter via Human-in-the-loop Residual Reinforcement Learning
Jingyi Liu, Zhaohong Mai, ShunSen He +5
Recent advancements in generative imitation learning have significantly propelled the field of robotic manipulation. However, the majority of existing models rely heavily on Behavi…
Modularized Reinforcement Learning on LLMs: From MDP Creation to Exploration and Learning
Zhao Yang, Yuxuan Jiang, Ting-Chih Chen +18
Reinforcement learning (RL) has become central to LLM post-training, yet the methods that dominate current pipelines, PPO and GRPO, represent only a narrow slice of what RL offers.…
Foresee and Act Ahead: Task Prediction and Pre-Scheduling Enabled Efficient Robotic Warehousing
B. Cao, Z. Liu, X. Han +3
In warehousing systems, to enhance logistical efficiency amid surging demand volumes, much focus is placed on how to reasonably allocate tasks to robots. However, the robots labor…