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cs.RO2026
Scaling Verification Can Be More Effective than Scaling Policy Learning for Vision-Language-Action Alignment
Jacky Kwok, Xilun Zhang, Mengdi Xu +4
The long-standing vision of general-purpose robots hinges on their ability to understand and act upon natural language instructions. Vision-Language-Action (VLA) models have made r…
cs.RO2025
MoMaGen: Generating Demonstrations under Soft and Hard Constraints for Multi-Step Bimanual Mobile Manipulation
Chengshu Li, Mengdi Xu, Arpit Bahety +11
Imitation learning from large-scale, diverse human demonstrations has been shown to be effective for training robots, but collecting such data is costly and time-consuming. This ch…
cs.RO2023★ 2 cited
Adaptive Online Replanning with Diffusion Models
Siyuan Zhou, Yilun Du, Shun Zhang +5
Diffusion models have risen as a promising approach to data-driven planning, and have demonstrated impressive robotic control, reinforcement learning, and video planning performanc…