3 papers
cs.RO2026
Scaling Verification Can Be More Effective than Scaling Policy Learning for Vision-Language-Action Alignment
Jacky Kwok, Xilun Zhang, Mengdi Xu +4
The long-standing vision of general-purpose robots hinges on their ability to understand and act upon natural language instructions. Vision-Language-Action (VLA) models have made r…
cs.RO2025
Dynamics as Prompts: In-Context Learning for Sim-to-Real System Identifications
Xilun Zhang, Shiqi Liu, Peide Huang +4
Sim-to-real transfer remains a significant challenge in robotics due to the discrepancies between simulated and real-world dynamics. Traditional methods like Domain Randomization o…
cs.RO2024
Learning Robust Policies via Interpretable Hamilton-Jacobi Reachability-Guided Disturbances
Hanyang Hu, Xilun Zhang, Xubo Lyu +1
Deep Reinforcement Learning (RL) has shown remarkable success in robotics with complex and heterogeneous dynamics. However, its vulnerability to unknown disturbances and adversaria…