[NeurIPS 2026] VLA-Corrector: Lightweight Detect-and-Correct Inference for Adaptive Action Horizon
Code for Scalable Offline Model-Based RL with Action chunking
multi-robot serving engine for cloud robot foundation models
Official simulation reproduction for SpeedTuning (ICRA 2025).
End-to-end implementation of Action Chunking Transformers (ACT) for imitation learning in robot manipulation tasks. Trained and evaluated in MuJoCo simulation on a pick-and-place task using the ROBOTIS FFW humanoid robot.
A list of Action chunking RL papers (continually updated)
Four VLA action representations compared on multimodal demonstrations: bins, regression, diffusion, flow. Regression drives into the obstacle it should route around; flow keeps multimodality at 90x diffusion's control rate.
GRACE: Geometric Memory for Adaptive Action Chunking. Method core from the paper supplementary material.
SmolVLA 多任务适配与异步动作执行研究 — 数据效率与语言消融、RTC 异步执行
World-model assisted VLA-lite prototype for offline robot control with action-chunk reranking.
GR00T-style asynchronous EEF action-chunk execution for G1/Inspire, with a hardware-free reproducible demo.
Controlled XR-1 VLA study of action-prefix conditioning and asynchronous temporal alignment.
A CPU-first end-to-end imitation learning lab: collect demos, train BC/action chunks, evaluate closed loop, write reports.
Reproducing Action Chunking Transformer (ACT) on a low-cost SO-101 arm.
Fork of openpi: π0.5 fine-tuned with B-spline action targets (B-spline Policy) and executed asynchronously with phase skipping. Includes a deterministic, paired random-latency LIBERO benchmark (Normal 300±60 ms, 2,000 episodes per mode) against async chunking and Real-Time Chunking.
An unofficial extension of FASTER’s Robomimic implementation, adding image observations and receding-horizon action-chunk execution
MuJoCo grasping with behavior cloning, action chunking, and honestly scoped language-conditioning evidence.
FoldingACT: multimodal (vision + tactile) imitation-learning policy for bimanual dexterous paper folding, IROS 2026 Robotic Origami Challenge
How should ACT execute its action chunks under observation latency and a moved target? A LeRobot study in ALOHA simulation: 21,600 paired episodes on two checkpoints.
Training-free reflex for action-chunking robot policies: the policy's own Jacobian between calls (Kinetix, pre-registered)
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