World action models (WAMs) are large embodied policies that jointly predict future video and the actions to execute, emitting a fixed-length action chunk per inference call. Such a policy allocates its computational budget uniformly in time, unable to execute for longer over free-space motion or to spend more inference …
General-purpose robots must infer what a new task requires and translate that understanding into appropriate physical action. In-context learning (ICL) for robots supports this process by using demonstrations and interaction to direct existing competence with neural parameters held fixed during deployment. We organize …
Constructing action targets from measured robot motion is an established approach in imitation learning. Under interaction constraints, however, command-state discrepancy may reflect control demands that motion alone does not capture. We investigate when this information matters and how to exploit it. Across three real …
DAgger improves robot policies by aggregating expert supervision from states visited during policy execution. Robot-gated DAgger automates expert queries, allowing the robot to decide when to request expert takeover. While existing gates emphasize detecting the need for assistance, takeover timing also shapes the conte …