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cs.RO2026
Policy Contrastive Decoding for Robotic Foundation Models
Shihan Wu, Xu Luo, Ji Zhang +4
Robotic foundation models, or generalist robot policies, hold immense potential to enable flexible, general-purpose and dexterous robotic systems. Despite their advancements, our e…
cs.RO2025
InSpire: Vision-Language-Action Models with Intrinsic Spatial Reasoning
Ji Zhang, Shihan Wu, Xu Luo +4
Leveraging pretrained Vision-Language Models (VLMs) to map language instruction and visual observations to raw low-level actions, Vision-Language-Action models (VLAs) hold great pr…
cs.RO2025
Shortcut Learning in Generalist Robot Policies: The Role of Dataset Diversity and Fragmentation
Youguang Xing, Xu Luo, Junlin Xie +3
Generalist robot policies trained on large-scale datasets such as Open X-Embodiment (OXE) demonstrate strong performance across a wide range of tasks. However, they often struggle…