5 papers
Towards Reliable Sequential Object Picking in Clutter: The Runner-up Solution to RGMC 2025
Wei Yu, Xidan Zhang, Ziyi Zheng +2
As a long-standing challenge in robotic manipulation, stable and efficient grasping in cluttered environments is of great importance in industrial settings. While recent studies ha…
Precise: SDE-Consistent Stochastic Sampling for RL Post-Training of Flow-Matching Models
Jade Zou, Tao Huang, Weijie Kong +7
Reinforcement learning (RL) has become an effective way to improve prompt alignment and perceptual quality in diffusion and flow-matching generators. A critical step for applying o…
AffordVLA: Injecting Affordance Representations into Vision-Language-Action Models via Implicit Feature Alignment
Weijie Kong, Zhian Su, Wei Yu +1
Recent advances in Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation. However, the visual representations of most VLA models…
IG-RFT: An Interaction-Guided RL Framework for VLA Models in Long-Horizon Robotic Manipulation
Zhian Su, Weijie Kong, Haonan Dong +1
Vision-Language-Action (VLA) models have demonstrated significant potential for generalist robotic policies; however, they struggle to generalize to long-horizon complex tasks in n…
MixGRPO: Unlocking Flow-based GRPO Efficiency with Mixed ODE-SDE
Junzhe Li, Yutao Cui, Tao Huang +8
Although GRPO substantially enhances flow matching models in human preference alignment of image generation, methods such as FlowGRPO and DanceGRPO still exhibit inefficiency due t…