Author

Yiming Zeng

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#artificial intelligence Preprint Sep 2026

HIL-UMI: Bringing Human-in-the-Loop Post-Training of Vision-Language-Action Models to Universal Manipulation Interface

Large-scale vision-language-action (VLA) models provide powerful priors for robot manipulation, yet adapting them to a specific deployment remains challenging. Supervised fine-tuning (SFT) on task-specific demonstrations provides a step toward deployment, but faces two persistent limitations: static data provide limite...

Zimu Han, Yiming Zeng, Ji-Yao Zhang et al. · 0 citations

Jul 2026

X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching

Pretraining navigation diffusion policies rely on large-scale expert demonstrations. These data are typically generated by a fully-informed oracle planner suited to a single nominal robot. This limits the policy's generalization to diverse embodiments and challenging scenarios (e.g., escaping dead ends or detouring lon...

Tian-Yu Yang, Yiming Zeng, Wenzhe Cai et al. · arXiv.org · 0 citations