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Sponsored AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI

Author

Hai-Yue Zhu

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Preprint Sep 2026

ForceRFT: Refining VLA Actions through Force-Guided Residual Reinforcement Learning

Force-conditioned vision-language-action (VLA) policies can respond to contact, but when trained solely on demonstrations, their recovery behavior may be limited by demonstration coverage, and they do not learn from deployment outcomes. Human corrective imitation provides additional recovery examples, but its objective...

Yi-Cheng Wang, Chao-Yang Zhang, Xu-Qi Su et al. · 0 citations
Preprint Aug 2026

SG-WAM: Self-Guided World Modeling in Geometry-Aware Policy Space

SG-WAM introduces learnable dynamics tokens and a Self-Guided World Predictor that forecasts their future latent states conditioned on intervening robot actions, and is a self-guided framework that learns geometry-aware action-conditioned dynamics directly in the policy-derived representation space.

Ruiteng Zhao, Zheng-Shen Zhang, Yue Su et al. · 2 citations

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