Selecting 50% of robot demonstrations by maximizing exposure to reusable primitive-transition patterns outperforms full-data training while halving training steps.
The International Journal of Robotics Research , volume=
7 Pith papers cite this work. Polarity classification is still indexing.
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SUGAR turns diverse human videos into deployable humanoid loco-manipulation policies via automated prior extraction, physics refinement, and hierarchical distillation, showing scaling with data volume and zero-shot real-world transfer on six tasks.
COAST applies contrastive conceptors to steer VLA hidden states into task-specific success subspaces, yielding over 20% simulation and 40% real-robot success rate gains across three distinct policies.
Universal horizon models extend geometric horizon models to arbitrary horizons and apply winsorized distributions for stable offline RL value learning, outperforming baselines on 100 OGBench tasks.
FLASH Policy uses sparse Legendre polynomial trajectory fitting and history-anchored flow matching to enable single-step inference for visuomotor control, reporting 31.4 ms per-episode latency and >=92% success on five simulated plus two real manipulation tasks.
QueST replaces local point tracking with persistent semantic queries that globally attend to spatio-temporal features and apply 3D grounding to suppress drift, cutting absolute point error by 67.7% versus TAP-Net on long articulated sequences.
Q2RL extracts Q-values from a BC policy and applies Q-gating to enable efficient offline-to-online RL, outperforming baselines on D4RL/robomimic tasks and achieving up to 100% success on real-robot manipulation in 1-2 hours.
citing papers explorer
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SIEVE: Structure-Aware Data Selection for Imitation Learning with VLA Models
Selecting 50% of robot demonstrations by maximizing exposure to reusable primitive-transition patterns outperforms full-data training while halving training steps.
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SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework
SUGAR turns diverse human videos into deployable humanoid loco-manipulation policies via automated prior extraction, physics refinement, and hierarchical distillation, showing scaling with data volume and zero-shot real-world transfer on six tasks.
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Contrastive Conceptor Activation Steering (COAST): Unlocking Vision-Language-Action Models through Hidden States
COAST applies contrastive conceptors to steer VLA hidden states into task-specific success subspaces, yielding over 20% simulation and 40% real-robot success rate gains across three distinct policies.
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Offline Reinforcement Learning with Universal Horizon Models
Universal horizon models extend geometric horizon models to arbitrary horizons and apply winsorized distributions for stable offline RL value learning, outperforming baselines on 100 OGBench tasks.
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FLASH: Efficient Visuomotor Policy via Sparse Sampling
FLASH Policy uses sparse Legendre polynomial trajectory fitting and history-anchored flow matching to enable single-step inference for visuomotor control, reporting 31.4 ms per-episode latency and >=92% success on five simulated plus two real manipulation tasks.
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QueST: Persistent Queries as Semantic Monitors for Drift Suppression in Long-Horizon Tracking
QueST replaces local point tracking with persistent semantic queries that globally attend to spatio-temporal features and apply 3D grounding to suppress drift, cutting absolute point error by 67.7% versus TAP-Net on long articulated sequences.
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When Life Gives You BC, Make Q-functions: Extracting Q-values from Behavior Cloning for On-Robot Reinforcement Learning
Q2RL extracts Q-values from a BC policy and applies Q-gating to enable efficient offline-to-online RL, outperforming baselines on D4RL/robomimic tasks and achieving up to 100% success on real-robot manipulation in 1-2 hours.