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cs.RO2026
Post-Training, Finetuning, and Steering:A Field Guide for Curating Training Data
Maria Attarian, Yifan Ruan, Claas Voelcker +5
While Vision-Language-Action models have enabled impressive cross-task transfer in zero-shot settings, \emph{adaptation} methods are often necessary to achieve consistent performan…
cs.RO2026
Push-Wiper: Toward General-Purpose Robotic Cleaning across Varied Stains and Surfaces with Segmented Pushing Trajectories
Renhao Lu, Mingxin Wang, Chenyang Cao +5
Viscous stains, characterized by high viscosity and complex rheological properties, remain a major challenge for robotic surface cleaning. Conventional wiping often spreads the sta…
cs.LG2026
QPILOTS: Efficient Test-Time Q-Steering for Flow Policies
Yifan Ruan, Chenyang Cao, Andreas Burger +7
Flow-matching and diffusion policies are expressive action generators, but optimizing them with temporal-difference reinforcement learning (RL) remains difficult. Effective policy…