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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

Yi-Lin Mo

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3 papers indexed here

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Conference Aug 2026

Stage-Aware Vision-Language-Action Model for Long-Horizon Robotic Manipulation

Vision-Language-Action (VLA) models learn generalist robot manipulation policies by mapping language instructions and visual observations to continuous actions through imitation learning. However, their performance degrades on long-horizon tasks, particularly when sub-tasks admit multiple valid execution orders. Since...

Hao-Ran Shi, Yi-Han Zhou, Ming-Cong Li et al. · 0 citations
Preprint Sep 2026

DR-MPC: Fast and Feasible Dynamics-Relaxed Model-Predictive Control for Legged Locomotion

This paper presents dynamics-relaxed model predictive control (DR-MPC), a novel MPC formulation for legged locomotion, and a tailored interior-point method (IPM) solver. The formulation combines online optimization feasibility by construction with a contact-aware input parameterization. DR-MPC moves the dynamics equali...

Run Wang, Alapati Tuerxun, Shuo Liu et al. · 0 citations
Preprint Sep 2026

Gaze Prompts: Temporally Dense Human Attention for Vision-Language-Action Fine-Tuning

Vision-Language-Action (VLA) fine-tuning pairs images with actions at every step, yet typically provides only a task-level language instruction, leaving moment-to-moment visual relevance implicit. We introduce \emph{eye-tracker-supervised gaze prompting}, which uses gaze recorded during VR teleoperation to provide fram...

Yi-Han Zhou, Rui Yan, Ming-Cong Li et al. · 0 citations

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