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cs.RO2025
Phoenix: A Motion-based Self-Reflection Framework for Fine-grained Robotic Action Correction
Wenke Xia, Ruoxuan Feng, Dong Wang +1
Building a generalizable self-correction system is crucial for robots to recover from failures. Despite advancements in Multimodal Large Language Models (MLLMs) that empower robots…
cs.RO2024
Reinforcement Learning with Elastic Time Steps
Dong Wang, Giovanni Beltrame
Traditional Reinforcement Learning (RL) policies are typically implemented with fixed control rates, often disregarding the impact of control rate selection. This can lead to ineff…
cs.RO2024
Variable Time Step Reinforcement Learning for Robotic Applications
Dong Wang, Giovanni Beltrame
Traditional reinforcement learning (RL) generates discrete control policies, assigning one action per cycle. These policies are usually implemented as in a fixed-frequency control…