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cs.RO2026
The Human--VLA Communication Gap: What Humans Leave Implicit and What Policies Cannot Recover
Yiqing Xu, Jiajun Wu
A robot may know how to perform a task yet fail when a human asks for it naturally. We study this human--VLA communication gap by separating an \emph{information gap}, where task s…
cs.CV2026
APIVOT: Adaptive Planning with Interleaved Vision-Language Thoughts
Emily Jin, Joy Hsu, Yiqing Xu +3
Long-horizon robot planning requires jointly reasoning over semantic task structure and geometric feasibility. To successfully execute a task, a robot must decompose goals, select…
cs.RO2026
VLS: Steering Pretrained Robot Policies via Vision-Language Models
Shuo Liu, Ishneet Sukhvinder Singh, Yiqing Xu +2
Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarel…