3 papers
cs.LG2026
Beyond Conservatism: Recoverability-Conditioned Exploration for Model-Based Imitation Learning
Xuanlin Chen, Ziyue Wang, Xunlan Zhou +3
Model-based imitation learning (MBIL) improves real-environment interaction efficiency by optimizing policies on imagined rollouts from a learned world model. However, the gap betw…
cs.RO2026
Tether-Aware Dynamic Collision Avoidance for USV-HROV Systems
Yang Gu, Ziyang Hong, Xuanlin Chen +4
Heterogeneous marine robotic systems composed of an unmanned surface vehicle (USV) and a hybrid remotely operated vehicle (HROV) have shown great potential for subsea cable inspect…
cs.RO2026
MARVL: Multi-Stage Guidance for Robotic Manipulation via Vision-Language Models
Xunlan Zhou, Xuanlin Chen, Shaowei Zhang +4
Designing dense reward functions is pivotal for efficient robotic Reinforcement Learning (RL). However, most dense rewards rely on manual engineering, which fundamentally limits th…