Author

Keyvan Zhang

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Preprint Oct 2026

TS-WAM: Temporal Latent Actions and World-Action Coupling for Vision-Language Robot Control

Many vision-language-action policies rely on action-labeled robot demonstrations and lack an explicit mechanism for predicting future visual states. These limitations hinder learning from action-free videos and can encourage overfitting to demonstration conditions, weakening generalization and robustness. We present TS...

Meng-Hao Yin, Jia-Ju Yin, Xi-Yue Dong et al. · 0 citations

#small language model Preprint Sep 2026

Memorize, Adapt, Ignore: Diagnosing Robot Learning Mechanisms under Training Data Variation

This work examines both model behavior and internal representations, using the empirical neural tangent kernel (NTK) as the primary diagnostic tool, and develops practical guidance for designing DR schemes, selecting models, and detecting shortcut learning.

Ke Zhang, D. Sutherland, Chao Liu · 0 citations

2026

Generative Adversarial Self-Imitation Learning With Large Language Model Feedback for Robot Control and Navigation

Deep reinforcement learning (DRL) has achieved great success in many simulated and real-world robotic tasks. However, the difficulty of designing efficient and dense reward functions makes applying DRL to tackle complex long-horizon and open-world tasks a great challenge. Generative adversarial imitation learning (GAIL...

Keyvan Zhang, Zheng Fang, Enqi Zhao et al. · IEEE Transactions on robotic... · 0 citations