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cs.RO2026
X4Val: Learning Neural Surrogates for Variance-Reduced Policy Evaluation
Rachel Luo, Michael Watson, Apoorva Sharma +6
Rigorous evaluation of learning-based robotic systems is an essential prerequisite for deployment. However, real-world test data is expensive to gather; moreover, in a typical iter…
cs.RO2026
BEACON: Cross-Domain Co-Training of Generative Robot Policies via Best-Effort Adaptation
Antong Zhang, Han Qi, Heng Yang
We introduce BEACON--Best-Effort Adaptation for Cross-Domain Co-Training--a theory-driven framework for training generative robot policies with abundant source demonstrations and l…
cs.RO2025
Flexible Locomotion Learning with Diffusion Model Predictive Control
Runhan Huang, Haldun Balim, Heng Yang +1
Legged locomotion demands controllers that are both robust and adaptable, while remaining compatible with task and safety considerations. However, model-free reinforcement learning…