3 papers
cs.RO2026
Posterior Optimization with Clipped Objective for Bridging Efficiency and Stability in Generative Policy Learning
Yuhui Chen, Haoran Li, Zhennan Jiang +4
Expressive generative models have advanced robotic manipulation by capturing complex, multi-modal action distributions over temporally extended trajectories. However, fine-tuning t…
cs.RO2025
RL-100: Performant Robotic Manipulation with Real-World Reinforcement Learning
Kun Lei, Huanyu Li, Dongjie Yu +6
Real-world robotic manipulation in homes and factories demands reliability, efficiency, and robustness that approach or surpass those of skilled human operators. We present RL-100,…
cs.SD2025
MARS-Sep: Multimodal-Aligned Reinforced Sound Separation
Zihan Zhang, Xize Cheng, Zhennan Jiang +4
Universal sound separation faces a fundamental misalignment: models optimized for low-level signal metrics often produce semantically contaminated outputs, failing to suppress perc…