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cs.RO2026
ESP: Energy-Score Policy for One-Step Multimodal Action Generation
Lilika Makabe, Heecheol Kim, Yasuyuki Matsushita
Generative action models based on diffusion and flow matching have been increasingly adopted in vision-language-action (VLA) policies for their ability to capture diverse behaviors…
cs.RO2026
DiVeR: Decision-Critical Verifier Learning for VLA Test-Time Scaling
Seongheon Park, Heecheol Kim, Shulin Tian +5
Scaling robot data and model capacity has improved Vision-Language-Action (VLA) policies, but further progress is constrained by the high cost of robotic data. Verifier-guided test…