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How Should Vision-Language-Action Models Use Proprioceptive State?
Yiren Zhao, Ziyang Chen, Ziyang Rao +5
Recent Vision-Language-Action (VLA) models almost universally take robot proprioceptive state as input, yet wire it in incompatible ways -- serialized into text prompts, projected…
Source-Lifted Flow Matching for Intervenable Multimodal Imitation
He Zhang, Ying Sun, Pengteng Li +7
Flow-matching policies are promising for imitation learning because they model complex multimodal action distributions. However, their stochasticity is largely passive: repeated sa…
PHASER: Phase-Aware and Semantic Experience Replay for Vision-Language-Action Models
Ziyang Chen, Shaoguang Wang, Weiyu Guo +5
Vision-Language-Action (VLA) models have achieved remarkable success in language-conditioned robotic manipulation. However, deploying these models in open-ended environments requir…
NeuroVLA: A Brain-inspired Embodied Intelligence for Fluid and Fast Reflexive Robotics Control
Weiyu Guo, He Zhang, Pengteng Li +7
Vision-language-action (VLA) models inherit powerful semantic representations from large language models, but carrying over their design priorities can leave the demands of physica…