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cs.RO2026
RePO-VLA: Recovery-Driven Policy Optimization for Vision-Language-Action Models
Weijia Liufu, Xiaoyu Guo, Ruiyi Chen +16
Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while…
cs.RO2023
Learning-based Inverse Perception Contracts and Applications
Dawei Sun, Benjamin C. Yang, Sayan Mitra
Perception modules are integral in many modern autonomous systems, but their accuracy can be subject to the vagaries of the environment. In this paper, we propose a learning-based…