2 citations · 2 across the 12 of their papers we have counts for
7 papers · 1 filter
The Geometry of Flow-Matching Uncertainty: A Cost-free Uncertainty Proxy and Its Application in Flow-based VLA Failure Detection
Ziyang Rao, Yiren Zhao, Weiyu Guo +3
Flow matching (FM) has become a popular action head paradigm for modern embodied models. However, as a conditional generative model, it does not explicitly expose its inherent unce…
Suppression Sticks, Locality Is Fragile: A Closed-Loop Target-and-Control Audit of Task-Vector Negation in VLA Policies
Shaoguang Wang, Weiyu Guo, Rushi Dai +3
Task-vector arithmetic offers a closed-form way to modify a model, yet its behavioral locality remains unclear in closed-loop robot control. We present a target-and-control audit o…
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 +6
Flow-matching policies are promising for imitation learning because they model complex multimodal action distributions. However, their stochasticity is largely passive: repeated sa…
Spatial Memory for Out-of-Vision Manipulation in Vision-Language-Action
Pengteng Li, Weiyu Guo, He Zhang +4
We introduce SOMA, the Spatial Memory framework for Out-of-Vision Manipulation in Vision-Language-Action (VLA) models. Most existing VLAs implicitly assume that task-relevant objec…
Mirage2Matter: A Physically Grounded Gaussian World Model from Video
Zhengqing Gao, Ziwen Li, Xin Wang +12
The scalability of embodied intelligence is fundamentally constrained by the scarcity of real-world interaction data. While simulation platforms provide a promising alternative, ex…