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cs.RO2026
Toward Real-Time VLAs: Stage-Aware Two-Step Flow Denoising and System-Level Evaluation
Di Wu, Rongtian Shen, Ping Liu +8
Vision-language-action (VLA) models face a timing gap between low-rate inference and high-rate robot execution. We characterize this gap through end-to-end latency measurements of…
cs.RO2026
RARM: Confidence-Gated Progress Reward Modeling for RL in Manipulation
Pengzhi Yang, Xinyu Wang, Pengyu Jing +7
Reinforcement learning for robot manipulation is often bottlenecked by reward design, especially in long-horizon tasks: sparse success rewards provide weak supervision, while hand-…