Author

Georgia Chalvatzaki

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Preprint Sep 2026

Contact-Rich Motion Planning via GPU-Parallel Mode Evaluation

Contact-rich motion planning (CRMP) is essential for robotic manipulation and locomotion, yet remains computationally challenging due to combinatorial contact decisions. Existing methods typically avoid broad evaluation of contact-mode sequences through search heuristics or optimization reformulations. We revisit broad...

Jia-Yun Li, Georgia Chalvatzaki · 0 citations

Preprint Sep 2026

Find Something You Can't Do: Agentic Real-World Reinforcement Learning for Self-Improving VLA Models

FIND is introduced, an agentic real-world RL framework that closes the loop between scene understanding, weakness-aware practice, self-evaluation, and policy improvement in a persistent workspace and reframes autonomous practice as a scene-conditioned, performance-aware task-selection problem.

Yuan Fang, Ze-Chu Li, Hao-Lei Tong et al. · 1 citation

Jul 2026

Globalized Constrained Stein Variational Inference for Diverse Feasible Robot Motion Planning

SteinSQP (Stein Variational Sequential Quadratic Programming), a constrained Stein variational inference method for diverse feasible robot motion sampling, shows faster and more robust ensemble convergence in terms of iterations, improves particle-wise feasibility, and achieves faster batched time-to-solution on challe...

Jiayun Li, Georgia Chalvatzaki · arXiv.org · 1 citation