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cs.RO2026
XS-VLA: Teaching Tiny Vision-Language-Action Models with Spatial Supervision and Demonstration Conditioning
Iok Tong Lei, Ying Jie Yap, Wei Huang +5
How can richer training supervision improve robot control while keeping the deployed policy compact? We present XS-VLA, a staged training framework using teacher-derived spatial la…
cs.RO2026
ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning
Iok Tong Lei, QianZhi Li, Ying Jie Yap +5
General-purpose manipulation requires both semantic reasoning over task constraints and reliable execution of contact-rich actions. We present ACE, an agentic manipulation harness…