ARP: Enhancing Quantized Skill Abstractions via Visual Alignment and Iterative Refinement for Robotic Manipulation

Learning visuomotor policies for long-horizon manipulation remains a fundamental challenge. Recent skill-based imitation learning methods based on discrete quantization have shown promising results by representing complex behaviors as temporally extended skills. However, most existing approaches primarily encode action trajectories into latent skills, yielding weak visual-semantic grounding and limiting the ability to leverage visual observations for skill selection. Moreover, discrete tokenization inevitably incurs precision errors during continuous action generation. To alleviate these issues, we propose Aligned Refinement Policy (ARP), a discrete-skill framework that couples semantic grounding with execution-level refinement. Specifically, ARP introduces (i) a visual--action alignment objective that contrastively aligns visual embeddings with pre-quantized action representations in a shared latent space while preserving a state-independent skill decoder, and (ii) a lightweight Iterative Residual Head (IRH) that performs a two-step refinement to recover fine-grained control for precise execution. Extensive experiments show that ARP achieves state-of-the-art performance on the LIBERO and Meta-World benchmarks. Moreover, real-robot experiments on the Kuavo 4 Pro humanoid platform further validate its effectiveness, yielding consistent performance gains over several baselines on two challenging manipulation tasks.

1.71 Tb/s Single-Channel and 56.51 Tb/s DWDM Transmission over 96.5 km Field-Deployed SSMF

We report an industry leading optical dense wavelength division multiplexing (DWDM) field trial with line rates per channel exceeding 1.66 Tb/s using 130 GBaud dual-polarization probabilistic constellation shaping 256-ary quadrature amplitude modulation (DP-PCS256QAM) in a high capacity data center interconnect (DCI) scenario. This research trial was performed on 96.5 km of field-deployed standard single mode G.652 fiber infrastructure of Deutsche Telekom in Germany employing Erbium-doped fiber amplifier (EDFA)-only amplification. A total of 34 channels were transmitted with 150 GHz spacing for a total fiber capacity of 56.51 Tb/s and a spectral efficiency higher than 11bit/s/Hz. In the single-channel transmission scenario 1.71 Tb/s was achieved over the same link. In addition, we successfully demonstrate record net bitrates of 1.88 Tb/s in back-to-back (B2B) using 130 GBaud DP-PCS400QAM.