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Evaluating VLA policies on real robots is costly, time-consuming, and difficult to reproduce, making real-to-sim simulation essential for scalable evaluation. While 3D Gaussian Splatting (3DGS) enables rapid real-to-sim scene generation, the reconstruction quality required for reliable policy evaluation remains unquant...
Robot manipulation data collection has been shifting from teleoperation toward robot-free demonstrations, through interfaces such as the Universal Manipulation Interface (UMI) or directly from human hands. Vision-Language-Action (VLA) policies trained on such data inherit the demonstrator's timing. Yet human timing doe...
Model Predictive Control is an effective tool for robust humanoid gait generation in complex 3D environments. This challenging operating condition typically results in non-convex footstep constraints which, if directly included in the optimization problem, would introduce significant computation overhead. We present a...
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