Author

Peng Xu

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Preprint Sep 2026

PSR: Predictive Sensorimotor Representation Learning for Contact-Rich Manipulation

Predictive Sensorimotor Representation learning is introduced, a framework that learns a hierarchy of predictive representations from multimodal sensorimotor signals and integrates them into the action stream of a visuomotor policy, and is instantiate within a Vision-Language-Action model, resulting in PSR-VLA.

Sheng-Bao Li, Peng Xu, Chao Tang et al. · 0 citations

Preprint Jul 2026

CLIFT: Turning Gemini Robotics On-Device into Humanoid Specialists via Non-Invasive Closed-Loop Iterative Fine-Tuning

CLIFT: Closed-Loop Iterative Fine-Tuning is introduced, which turns deployment-time reward feedback into API-compatible supervised data and enables closed-loop policy improvement without accessing weights, gradients, likelihoods, or losses-pushing GROD to near-perfect success after two flywheel cycles, all without open...

Yuxin Chen, H. Srikanth, N. Jew et al. · 0 citations