Author

Ioannis Havoutis

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Preprint Sep 2026

DistAL: Distance-based Advantage Learning for VLA Fine-Tuning

Vision-language-action models (VLAs) have trans- formed the field of robotic manipulation in recent years by combining the semantic understanding of LLMs with the precise control of flow-matching policies. Advantage conditioning is a recent technique that iteratively improves VLAs by training a value function on deploy...

Reece O'Mahoney, Ioannis Havoutis · 0 citations

Preprint Aug 2026

Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space

This work proposes a hierarchical reinforcement learning pipeline that empowers the robots to perform aggressive locomotion through constrained obstacles--a narrow gate, extending the lifelike agility of legged robots to match that of their biological counterparts.

Zeren Luo, Jiahui Zhang, Yimin Han et al. · 1 citation