12 papers
HERA: Historical Evidence Routing Adapter for Physical Prediction in Latent World Models
Yuanruyi, Yue Cao, Haojia Gao +7
Predictive video models have emerged as promising world models by learning latent visual dynamics from large-scale video. Yet these models remain challenged by physical events unde…
Retrieve in Time, Correct in Frequency
Yuze Fan, Yue Cao, Pengjie Gao +7
Frozen vision-language-action (VLA) policies generate temporally extended action chunks, but long-horizon manipulation remains vulnerable to accumulated execution error and visual…
RPG: Robust Policy Gating for Smooth Multi-Skill Transitions in Humanoid Fighting
Yucheng Xin, Jiacheng Bao, Yubo Dong +5
Humanoid robots have demonstrated impressive motor skills in a wide range of tasks, yet whole-body control for humanlike long-time, dynamic fighting remains particularly challengin…
Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot
Yucheng Xin, Jiacheng Bao, Haoran Yang +6
The integration of imitation and reinforcement learning has enabled remarkable advances in humanoid whole-body control, facilitating diverse human-like behaviors. However, research…
FlowPRO: Reward-Free Reinforced Fine-Tuning of Flow-Matching VLAs via Proximalized Preference Optimization
Yihao Wu, He Zhang, Junbo Tan +2
Post-training Vision-Language-Action (VLA) models into policies that can be reliably deployed on real robots remains a major bottleneck. SFT and DAgger exploit failure signals only…
PhotoAgent: A Robotic Photographer with Spatial and Aesthetic Understanding
Lirong Che, Zhenfeng Gan, Yanbo Chen +2
Embodied agents for creative tasks like photography must bridge the semantic gap between high-level language commands and geometric control. We introduce PhotoAgent, an agent that…