3 papers indexed
We introduce trajectory-regularized stochastic optimal control (TRSOC), which augments standard stochastic optimal control (SOC) with a Kullback--Leibler (KL) divergence between controlled and reference trajectory distributions. Using Girsanov's theorem, the trajectory KL reduces…
Yufeng Ji, Wenhao Tang, Haoyi Niu, Koushil Sreenath, Yi Wu, Zhongyu Li
Action supervision in vision-language-action (VLA) models is often treated as a downstream objective for learning action prediction. In this paper, we study it instead as a force that shapes inherited multimodal representations. We show that this shaping has a dual effect: it is…
Yen-Jen Wang, Jiaman Li, Sirui Chen, Takara E. Truong, Pei Xu, Pieter Abbeel, et al.
Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egocentric images, language commands, and robot-compatible kinematic trajectories, yet no existing data…