arXiv:2601. 20985v2 Announce Type: replace Abstract: Optimal control of complex environments with robotic systems faces two complementary and intertwined challenges: efficient organization of sensory state information and far-sighted action planning.
arXiv:2608. 09512v1 Announce Type: new Abstract: Active inference offers a unified framework for perception, learning, and action, but scaling discrete active-inference models to rich spatial and temporal domains remains difficult.
Prioritized Rollouts for Efficient World Model-based Vision-Language-Action Policy Optimization introduces U‑GROW, a lightweight sampling layer that directs more model rollouts toward states with high policy uncertainty, identified as decision‑sensitive stages where small action differences can alter task outcomes. By modifying only the branched‑start distribution, U‑GROW can be integrated into existing model‑based reinforcement learning pipelines without changing the policy optimization objective. Experiments on simulated and real‑world manipulation tasks demonstrate that U‑GROW improves the efficiency and effectiveness of policy optimization for Vision‑Language‑Action models.
Active inference offers a unified framework for perception, learning, and action, but scaling discrete active-inference models to rich spatial and temporal domains remains difficult. Renormalising generative models (RGMs) address this challenge by composing discrete generative models across spatial and temporal scales, coarse-graining lower-level states and paths into higher-level causes for objects, events, and action.
arXiv:2604. 12474v3 Announce Type: replace-cross Abstract: In many robotic tasks, agents must traverse a sequence of spatial regions to complete a mission.
arXiv:2608. 03502v1 Announce Type: new Abstract: Large Language Models (LLMs) have recently shown strong capabilities in reasoning, planning, and tool-use, enabling new forms of autonomous agents.
The paper presents a deep active inference framework for real‑world robotic navigation that combines a diffusion policy with a multiple‑timescale recurrent state‑space model. The diffusion policy generates diverse candidate actions, while the state‑space model predicts long‑horizon outcomes, allowing the system to select actions that minimize expected free energy. Experiments show higher success rates and fewer collisions, especially in exploration‑heavy scenarios, demonstrating the effectiveness of this unified exploration and goal‑directed approach.
arXiv:2510. 14828v3 Announce Type: replace Abstract: Improving the reasoning capabilities of embodied agents is crucial for robots to complete complex human instructions in long-view manipulation tasks successfully.
The paper introduces a method that integrates action abstraction into policy optimization for reinforcement learning and generative flow networks. By iteratively identifying frequently used action subsequences in high‑reward trajectories and treating them as single high‑level actions, the approach expands the action space and improves sample efficiency. Experiments on synthetic and real‑world tasks show that this technique discovers diverse high‑reward states more effectively, especially on challenging exploration problems, and yields interpretable abstract actions that reflect the underlying reward structure.
arXiv:2505. 21457v2 Announce Type: replace-cross Abstract: Active vision, also known as active perception, refers to actively selecting where and how to look in order to gather task-relevant information.
The paper surveys Generative Physical Artificial Intelligence (GPAI), a field where large foundation models are integrated with physical robots. It introduces a taxonomy of five approaches—Robot Foundation Models, Vision‑Language Action models, Large Behavior Models, Diffusion Policy Models, and World Foundation Models—and discusses how they complement each other across domains such as autonomous vehicles, industrial automation, healthcare robotics, and humanoid systems. The review highlights performance gains, data‑efficient learning, sim‑to‑real transfer, edge‑compatible architectures, and safety frameworks as key research directions.
arXiv:2609.23775v1 Announce Type: new Abstract: Obtaining the optimal action-value function in Markov decision processes is computationally intensive in large state--action spaces. In this study, we...
arXiv:2608. 07870v1 Announce Type: new Abstract: Improving sample efficiency remains a core challenge in reinforcement learning (RL), especially in real-world settings like robotics, where data collection is costly.