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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Adapting Critic Match Loss Landscape Visualization to Off...
Jingyi Liu, Jian Guo, Eberhard Gill · 2026-03-16 · via cs.RO updates on arXiv.org

This work extends an established critic match loss landscape visualization method from online to off-policy reinforcement learning (RL), aiming to reveal the optimization geometry behind critic learning. Off-policy RL differs from stepwise online actor-critic learning in its replay-based data flow and target computation. Based on these two structural differences, the critic match loss landscape visualization method is adapted to the Soft Actor-Critic (SAC) algorithm by aligning the loss evaluation with its batch-based data flow and target computation, using a fixed replay batch and precomputed critic targets from the selected policy. Critic parameters recorded during training are projected onto a principal component plane, where the critic match loss is evaluated to form a 3-D landscape with an overlaid 2-D optimization path. Applied to a spacecraft attitude control problem, the resulting landscapes are analyzed both qualitatively and quantitatively using sharpness, basin area, and local anisotropy metrics, together with temporal landscape snapshots. Comparisons between convergent SAC, divergent SAC, and divergent Action-Dependent Heuristic Dynamic Programming (ADHDP) cases reveal distinct geometric patterns and optimization behaviors under different algorithmic structures. The results demonstrate that the adapted critic match loss visualization framework serves as a geometric diagnostic tool for analyzing critic optimization dynamics in replay-based off-policy RL-based control problems.