4 papers
Beyond World-Frame Action Heads: Motion-Centric Action Frames for Vision-Language-Action Models
Huoren Yang, Jianchao Zhao, Hu Yusong +7
Vision-Language-Action (VLA) models have advanced rapidly with stronger backbones, broader pre-training, and larger demonstration datasets, yet their action heads remain largely ho…
Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs
Jianchao Zhao, Huoren Yang, Yusong Hu +6
Vision-Language-Action (VLA) models show strong potential for general-purpose robotic manipulation, yet their closed-loop reliability often degrades under local deployment conditio…
Is Parameter Isolation Better for Prompt-Based Continual Learning?
Jiangyang Li, Chenhao Ding, Songlin Dong +4
Prompt-based continual learning methods effectively mitigate catastrophic forgetting. However, most existing methods assign a fixed set of prompts to each task, completely isolatin…
Shared & Domain Self-Adaptive Experts with Frequency-Aware Discrimination for Continual Test-Time Adaptation
JianChao Zhao, Chenhao Ding, Songlin Dong +4
This paper focuses on the Continual Test-Time Adaptation (CTTA) task, aiming to enable an agent to continuously adapt to evolving target domains while retaining previously acquired…