3 papers
cs.RO2026
Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control
Yiou Huang, Ning Ma, Weichu Zhao +4
Imitation learning (IL) has shown strong potential for contact-rich precision insertion tasks. However, its practical deployment is often hindered by covariate shift and the need f…
cs.RO2026
TempoFit: Plug-and-Play Layer-Wise Temporal KV Memory for Long-Horizon Vision-Language-Action Manipulation
Jun Sun, Boyu Yang, Jiahao Zhang +7
Pretrained Vision-Language-Action (VLA) policies have achieved strong single-step manipulation, but their inference remains largely memoryless, which is brittle in non-Markovian lo…
cs.RO2025
Goal-conditioned Hierarchical Reinforcement Learning for Sample-efficient and Safe Autonomous Driving at Intersections
Yiou Huang
Reinforcement learning (RL) exhibits remarkable potential in addressing autonomous driving tasks. However, it is difficult to train a sample-efficient and safe policy in complex sc…