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cs.RO2026
GaussFly: Contrastive Reinforcement Learning for Visuomotor Policies in 3D Gaussian Fields
Yuhang Zhang, Mingsheng Li, Yujing Shang +4
Learning visuomotor policies for Autonomous Aerial Vehicles (AAVs) relying solely on monocular vision is an attractive yet highly challenging paradigm. Existing end-to-end learning…
cs.RO2026
Learning Adaptive Cross-Embodiment Visuomotor Policy with Contrastive Prompt Orchestration
Yuhang Zhang, Chao Yan, Jiaxi Yu +2
Learning adaptive visuomotor policies for embodied agents remains a formidable challenge, particularly when facing cross-embodiment variations such as diverse sensor configurations…
cs.RO2025
Oracle-Guided Masked Contrastive Reinforcement Learning for Visuomotor Policies
Yuhang Zhang, Jiaping Xiao, Chao Yan +1
A prevailing approach for learning visuomotor policies is to employ reinforcement learning to map high-dimensional visual observations directly to action commands. However, the com…