Author

Yun-He Ni

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#artificial intelligence Preprint Oct 2026

RIFAR: Reliability and Forgetting-Aware Replay for Continual Robot Learning

Genuine embodied agency requires robots to turn continuous real-world experience into lasting, transferable skills. This demands continual learning that integrates new capabilities without eroding prior knowledge as tasks and environments evolve. Experience replay mitigates forgetting, but storing complete demonstratio...

Zi-Rong Song, Zheng Lu, Hao-Ran Liao et al. · 0 citations

#artificial intelligence Preprint Sep 2026

LayerRoute: Action-Conditioned Mixture-of-Layers Routing for Vision-Language-Action Policies

Vision-Language-Action (VLA) policies leverage pretrained vision-language models (VLMs) to guide action generation for robot control. VLMs provide hierarchical visual-semantic representations that evolve across layers, from local visual geometry to abstract, language-aligned semantics; different manipulation tasks may...

Zi-Rong Song, Zheng Lu, Hao-Ran Liao et al. · 2 citations