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cs.LG2026
Hilbert-Scale Stability of Posterior Diffusion Priors for Ill-Posed Signal Recovery
Bahman Moraffah, Raha Moraffah
Indirect and noisy observations are difficult to invert when the forward operator smooths out the unknown signal. In this case, the unstable modes are precisely the modes that the…
cs.RO2026
HELP: Human-Efficient Large-Scale Robot Post-Training with Rollout Segmentation
Shaopeng Zhai, Qi Zhang, Tianyi Zhang +5
When adapting Vision Language Action (VLA) models to downstream tasks, multiple rounds of post-training are often required to progressively address policy weaknesses. In this repor…
cs.RO2026
Preserving Foundational Capabilities in Flow-Matching VLAs through Conservative SFT
Tianyi Zhang, Shaopeng Zhai, Haoran Zhang +2
Unconstrained fine-tuning of flow-matching Vision-Language-Action (VLA) models drives dense parameter overwrites, degrading pre-trained capabilities. We present Conservative Superv…