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cs.RO2026
PolicyIK: High-Precision Inverse Kinematics for Robot Arms with Reinforcement Learning
Yuhan Liu, Xinqi Liu, Zixuan Dong +2
Inverse kinematics (IK) converts end-effector pose commands into joint motion, and many vision-language-action (VLA) policies rely on it to act on a given arm and to transfer acros…
cs.RO2026
TFP: Temporally Conditioned Memory-Fusion Policies for Visuomotor Learning
Yushen Liang, Yue Peng, Baosheng Jin +6
Vision--Language--Action (VLA) policies such as and OpenVLA perform well on many manipulation tasks, but they are often reactive: the next action is predicted from the cu…