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cs.RO2026
Imagine-RL: Residual-Confidence-Guided Cross-Attention for World-Model-Augmented VLA Reinforcement Learning
Kejia Hu, Wentong Zhai, Bo Zhao +1
Reliable action evaluation in contact-rich manipulation requires looking beyond the current observation to future visual and contact consequences. Existing noise-space reinforcemen…
cs.RO2024
FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset
Zhaxizhuoma, Kehui Liu, Chuyue Guan +15
Real-world manipulation data involving robotic arms is crucial for developing generalist action policies, yet such data remains scarce since existing data collection methods are hi…