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cs.RO2026
VLA-REPLICA: A Low-Cost, Reproducible Benchmark for Real-World Evaluation of Vision-Language-Action Models
Alex S. Huang, Jiahui Zhang, Shiqing Tang +1
Vision-Language-Action (VLA) models have shown strong promise for general-purpose robotic manipulation, but their real-world evaluation remains limited by a lack of accessible, rep…
cs.RO2025
ReWiND: Language-Guided Rewards Teach Robot Policies without New Demonstrations
Jiahui Zhang, Yusen Luo, Abrar Anwar +5
We introduce ReWiND, a framework for learning robot manipulation tasks solely from language instructions without per-task demonstrations. Standard reinforcement learning (RL) and i…
cs.RO2024
SPRINT: Scalable Policy Pre-Training via Language Instruction Relabeling
Jesse Zhang, Karl Pertsch, Jiahui Zhang +1
Pre-training robot policies with a rich set of skills can substantially accelerate the learning of downstream tasks. Prior works have defined pre-training tasks via natural languag…