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cs.RO2026
Fewer Steps, Better Actions: Rethinking Flow-Matching Inference for VLA Policies
Zhipeng Tang, Xinda Chen, Weining Rao +5
Vision-language-action (VLA) policies based on flow matching generate action chunks through repeated evaluations of an action expert. Increasing the number of integration steps rai…
cs.RO2026
LabDex: A Hierarchical Benchmark for Dexterous Manipulation in Laboratories
Zhipeng Tang, Sihang Chen, Sha Zhang +11
Autonomous laboratories hold great promise for accelerating scientific discovery. To achieve this vision, robots are supposed to dexterously manipulate diverse labware and instrume…
cs.RO2026
Goal2Skill: Long-Horizon Manipulation with Adaptive Planning and Reflection
Zhen Liu, Xinyu Ning, Zhe Hu +8
Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows…