2 papers
cs.RO2026
HIL-UMI: Bringing Human-in-the-Loop Post-Training of Vision-Language-Action Models to Universal Manipulation Interface
Zimu Han, Yiming Zeng, Jiyao Zhang +9
Large-scale vision-language-action (VLA) models provide powerful priors for robot manipulation, yet adapting them to a specific deployment remains challenging. Supervised fine-tuni…
cs.RO2026
HiPolicy: Hierarchical Multi-Frequency Action Chunking for Policy Learning
Jiyao Zhang, Zimu Han, Junhan Wang +7
Robotic imitation learning faces a fundamental trade-off between modeling long-horizon dependencies and enabling fine-grained closed-loop control. Existing fixed-frequency action c…