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cs.RO2026
SPECTRA: Context-Conditioned Spectral Movement Primitives for Robot Skill Generalization
Boxuan Zhang, Sheng Liu, Chenlin Ming +1
Robot imitation learning for manipulation should preserve demonstrated task geometry while producing dynamically admissible robot motions. Existing pipelines often learn task-depen…
cs.RO2026
Shifting Uncertainty to Critical Moments: Towards Reliable Uncertainty Quantification for VLA Model
Yanchuan Tang, Taowen Wang, Yuefei Chen +3
Vision-Language-Action (VLA) models enable general-purpose robotic policies by mapping visual observations and language instructions to low-level actions, but they often lack relia…
cs.RO2024
Stochastic Trajectory Optimization for Robotic Skill Acquisition From a Suboptimal Demonstration
Chenlin Ming, Zitong Wang, Boxuan Zhang +3
Learning from Demonstration (LfD) has emerged as a crucial method for robots to acquire new skills. However, when given suboptimal task trajectory demonstrations with shape charact…