← Back to all news
arXiv Machine Learning By Zhefei Gong, Hefeifei Jiang, Zehao Wang, Jiachen Li

Hierarchical Residual Policy Learning for Real-World Mobile Manipulation with Sparse Human Guidance

Read the original on arXiv Machine Learning →

The paper introduces HiRe-MoMa, a hierarchical residual policy learning framework that fine‑tunes a frozen base policy for mobile manipulation. It uses a policy‑agnostic residual split into mobile‑base and manipulator‑arm heads to reduce gradient interference, and incorporates expert‑guided value alignment to improve sample efficiency with sparse human interventions. Experiments on the TIAGo++ platform show that HiRe‑MoMa boosts task performance after only about 30 minutes of online interaction, regardless of the underlying base policy.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv Machine Learning.

Related stories

arXiv AI
Aug 19

ORPA: Online Residual Policy Adaptation for Robot Manipulation Control with Human Feedback

The paper introduces ORPA, a framework that adds a lightweight, feedback-conditioned module to a pretrained robotic manipulation policy, enabling real‑time residual adjustments in joint space without retraining the base policy. ORPA allows immediate correction of execution errors and distribution shifts, improving success rates and recovery on precision‑sensitive tasks compared to baseline policies and rule‑based inverse kinematics. The method is evaluated on the ALOHA platform, showing its effectiveness in real‑time deployment scenarios.

By Muhammad A. Muttaqien, Tomohiro Motoda, Ryo Hanai, Yukiyasu Domae
llmsragrobotics
More like this →
arXiv Machine Learning
Sep 21

From Pretraining to Proficiency: Real-World Subtask RL for Long-Horizon Manipulation with Minimal Human Intervention

The paper introduces PARTS, a real‑world subtask reinforcement learning framework that fine‑tunes a pretrained robot policy by focusing on critical bottleneck subtasks while keeping the base policy frozen. It uses agent‑generated selectors and success verifiers to provide local rewards, enabling learning even when full‑task successes are rare. Experiments on bimanual YAM and single‑arm Franka robots show that PARTS raises complete‑task success from 32% to 61% and from 50% to 95%, respectively, with only tens of minutes of real‑world RL rollouts and minimal human intervention.

By Sichang Su, Benjamin Yang, Zhiyun Deng, Boyuan Liang, Yip Fun Yeung, Zelin Wang, Lingfeng Sun
agentsreinforcement-learningroboticsfine-tuning
More like this →
arXiv AI
Sep 18

HIL-UMI: Bringing Human-in-the-Loop Post-Training of Vision-Language-Action Models to Universal Manipulation Interface

HIL-UMI is a policy-guided Universal Manipulation Interface that enables robot‑free, human‑in‑the‑loop post‑training of vision‑language‑action models. By querying the current policy during handheld demonstrations and using an Energy Score to detect out‑of‑distribution states, it selectively collects new data and refines a progress‑based advantage estimator. The updated estimator then drives advantage‑conditioned behavioral cloning, improving performance on long‑horizon and precise manipulation tasks while reducing per‑frame collection time compared to HG‑DAgger.

By Zimu Han, Yiming Zeng, Jiyao Zhang, Zihao Zhao, Yuanfei Wang, Yixiang Jin, Shiqi Li, Shuangben Chen, Wei Huang, Ruodai Li, Hui Shen, Hao Dong
roboticsfine-tuningmultimodal
More like this →
arXiv Machine Learning
Jul 13

FlowDAgger: Human-in-the-Loop Adaptation of Generative Robot Policies in Latent Space

arXiv:2607. 08877v1 Announce Type: cross Abstract: Pretrained generative robot policies based on flow matching and diffusion have achieved impressive results across a wide range of manipulation tasks.

By Michael Murray, Daphne Chen, Simran Bagaria, Dean Fortier, Tess Hellebrekers, Galen Mullins, Harshavardhan Gajarla, Oier Mees, Maya Cakmak, Andrey Kolobov
diffusionreinforcement-learningroboticsfine-tuning
More like this →