arXiv:2604.16683v2 Announce Type: replace-cross
Abstract: Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a...
By Gehan Zheng, Sanjay Seenivasan, Matthew Johnson-Roberson, Weiming Zhi
arXiv:2607. 01111v1 Announce Type: cross Abstract: Robot policies inevitably encounter failures when deployed in real environments.
By Haoran Hao, Shahram Najam Syed, Jeffrey Ichnowski, Jeff Schneider
The paper introduces SUN (Semantically UNified) Programs, typed executables that translate grounded relations into optimal control objectives, satisfaction predicates, and learning rewards. Using the Kuafu harness, a foundation model orchestrates scene preparation, verification, residual reinforcement learning, and data generation, repairing candidate programs and calibrating reward weights. Across nine multi‑stage manipulation tasks, Kuafu achieves an 82.03% success rate, outperforms learned baselines, generates demonstrations 10.57× faster than human teleoperation, and transfers zero‑shot to physical Franka and Kinova robots.
By Weiqi Wang, Zhi Li, Yudong Lei, David Martinez, Xiaofeng Gao, Yuxin Jiang, Chenfanfu Jiang, Yingnian Wu, Demetri Terzopoulos, Ran Gong
arXiv:2609.35575v2 Announce Type: replace-cross
Abstract: The real-world performance of current vision-language-action models is fundamentally constrained by the limited coverage of expert demonstrat...
By Zhuoyuan Yu, Jiacheng Wang, Tianle Liu, Yihua Ren, Peng Yu, Chen Bai, Ziheng Zhang, Yufei Jia, Jindou Jia, Yuhang Zhang, Xinrui Zhang, Shang Yujing, Yuxiang Chen, Chuhao Zhou, Tiancai Wang, Jianfei Yang
arXiv:2512.01946v4 Announce Type: replace-cross
Abstract: Robust robotic manipulation requires reliable failure detection and recovery. Although recent Vision-Language Models (VLMs) show promise in r...
By Paul Pacaud, Ricardo Garcia, Shizhe Chen, Cordelia Schmid
arXiv:2606. 08881v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models have demonstrated strong generalization in robotic manipulation, yet existing evaluations are primarily conducted in simulation or on expensive robotic platforms, leaving their robustness on affordable real-world robots largely unexplored.
By Yi Yu, Xinchuan Qiu