@article{steamselfsupervisedtemporalensembleadvan,
  title = {STEAM: Self-Supervised Temporal Ensemble Advantage Modeling for Real-World Robot Learning},
  author = {Zhihao Liu and Qiuyi Gu and Yitao Wang and Dongming Qiao and Yixian Zhang and Shuaihang Chen and Liangzhi Shi and Tianxing Zhou and Zefang Huang and Kang Chen and Zhen Guo and Quanlu Zhang and Jincheng Yu and Xiaodan Liang and Guoliang Fan and Yu Wang and Feng Gao and Xinlei Chen and Chao Yu},
  year = {2026},
  eprint = {2606.29834},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.29834},
}