3 papers
cs.RO2026
Steering Autoregressive Vision-Language-Action Policies via Action Token Intervention
Jason Chan, Jonathan C. Kao
We present Token Steering (TS), a method for dynamically steering trajectories generated by an autoregressive vision-language-action (VLA) model through direct intervention in the…
cs.RO2026
Flow Control: Steering Vision-Language-Action Models with Simple Real-Time Inputs
Jonathan C. Kao, Jason Chan, Andy Wang
We introduce flow control of vision-language-action (VLA) models, a simple and effective way to steer VLA actions in real-time through generic inputs, such as a keyboard. This meth…
cs.RO2025
Learning to Perform Low-Contact Autonomous Nasotracheal Intubation by Recurrent Action-Confidence Chunking with Transformer
Yu Tian, Ruoyi Hao, Yiming Huang +4
Nasotracheal intubation (NTI) is critical for establishing artificial airways in clinical anesthesia and critical care. Current manual methods face significant challenges, includin…