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cs.RO2026
Echo: Coupled Action and Task Status Signal Denoising for Vision Language Action Models
Yufeng Liu, Bohao Fan, Juntu Zhao +11
Recognizing task completion and failure enables robots to stop upon success and initiate recovery or replanning after failure. Existing methods augment Vision Language Action (VLA)…
cs.RO2026
Learning Native Continuation for Action Chunking Flow Policies
Yufeng Liu, Hang Yu, Juntu Zhao +9
Action chunking enables Vision Language Action (VLA) models to run in real time, but naive chunked execution often exhibits discontinuities at chunk boundaries. Real-Time Chunking…
cs.RO2025
Do You Need Proprioceptive States in Visuomotor Policies?
Juntu Zhao, Wenbo Lu, Di Zhang +10
Imitation-learning-based visuomotor policies have been widely used in robot manipulation, where both visual observations and proprioceptive states are typically adopted together fo…