Continuous legged manipulation requires accurate end-effector tracking while the base keeps walking. Combining reinforcement learning (RL) with model predictive control (MPC) suits this task: the learned policy provides robust locomotion, while MPC coordinates the base and arm to compensate for tracking errors. However …
Security evaluation of tool-using agents requires judging actions in context, yet generative judges add latency, explanation overhead, and output-validation failures. We study whether JEV, a typed decision model, offers a useful alternative for retrospective trace classification. We evaluate JEV and four generative jud …
Traversing narrow gaps is challenging for autonomous quadrotors, especially when control commands come directly from high-dimensional visual observations. Existing end-to-end methods often rely on behavior cloning or full-rollout backpropagation through time (BPTT) via differentiable simulation, which can limit policy …