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cs.RO2026
Where Predictive Supervision Goes Shapes What VLA Policies Learn
Hanseul Kim, Jewon Yeom, Youngjoon Jeong +2
Future prediction is increasingly used to improve vision-language-action (VLA) policies, based on the premise that anticipating scene evolution encourages representations useful fo…
cs.RO2026
PoLAR: Factorizing Extent and Mode in Latent Actions for Robot Policy Learning
Youngjoon Jeong, Jihwan Yu, Minsoo Jo +2
Robot actions vary in both extent and mode: how much change they produce and what kind of change they produce. A latent action space that reflects this structure may make it easier…
cs.RO2026
Uncovering Vulnerability of Vision-Language-Action Models under Joint-Level Physical Faults
Minsoo Jo, Taeju Kwon, Junha Chun +2
Deploying Vision-Language-Action (VLA) models in real robotic systems requires robustness not only to semantic and perceptual variations, but also to embodiment-side faults that ch…