Author

Olivier Sigaud

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Preprint Sep 2026

A Sim-to-Real Integration Pipeline for Training and Deployment of Chunk-Based VLA Manipulation Policies

Vision-Language-Action (VLA) models have become a prominent paradigm for mapping multimodal inputs, including semantic instructions, visual observations of the scene, and proprioceptive observations, to robot actions. Most state-of-the-art models predict actions in the end-effector pose space as sequences of action chu...

Mathilde Kappel, Clémence Grislain, Mohamed Chetouani et al. · 0 citations

#machine learning Preprint Aug 2026

Locally-Guided Actor-Critic: Training a Goal-conditioned Actor with a Subgoal-aware Critic

An alternative reward shaping method (RS) is proposed that removes deceptive rewards at the expense of theoretical guarantees of PBRS, and another method named Locally-Guided Actor Critic (LG-AC) that rewards the agent for reaching intermediate goals achieves the best overall performance across tasks.

Olivier Serris, Stéphane Doncieux, Olivier Sigaud · 0 citations