Robotic manipulation often requires inferring task-relevant states from past interactions when the current observation alone is insufficient to determine the appropriate action. Despite progress in benchmarking memory-augmented vision-language-action (VLA) models, application-oriented tasks requiring history-dependent...
Yi Wang, Yang Yang, Guang-Qi Xu et al.· 0 citations
Although vision-language-action (VLA) policies have advanced rapidly, long-horizon execution may still progress to the next task stage before the required physical effect has been established. We call this a mismatch between semantic commitments, physical conditions that a stage must establish or maintain, and the actu...
Zi-Xi Zhao, Yan-Song Feng, Yang Yang et al.· 1 citation
ConSPO is a Contrastive Sequence-level Policy Optimization method that uses length-normalized sequence log-probabilities as rollout scores and contrasts verified positive rollouts against negative distractors within the same group, and outperforms strong baselines on challenging reasoning benchmarks.
DBFly is proposed, a vision-language waypoint prediction framework that introduces explicit vision-guided spatial deliberation before waypoint generation and develops a terminal-convergence-aware stopping strategy that characterizes terminal states through both target proximity and short-horizon motion convergence, ena...
Experiments show that STDR consistently improves sample efficiency and success rates over multiple baselines, and matches or surpasses handcrafted dense rewards on several challenging tasks, suggesting robustness to visual noise and better-calibrated reward assignment across settings.
Yang Yang, Bingjie Chen, Zihan Wang et al.· arXiv.org· 0 citations
This work proposes DART-SD (Diamond-topology Aware Retrieval and Tuning for Self-Distillation), a novel framework that shifts the paradigm from global forcing to topology-guided localized correction, and significantly outperforms traditional full-trajectory baselines.
Hangrui Xu, Jiarui Wang, Yang Yang et al.· 0 citations
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