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cs.RO2026
UniFS: Unified Fast-to-Slow Hierarchical Architecture for Vision-Language-Action Models
Lin Sun, Zhiwei Guan, Conglin Wang +7
Mainstream Fast-Slow dual system vision-language-action models decouple a high-frequency action expert from a low-frequency vision-language model for efficiency, yet they face a fu…
cs.RO2026
Energy-based Compositional Diffusion Planning
Tao Sun, Utkarsh Aashu Mishra, Jiaxin Lu +2
Compositional diffusion planners aim to solve long-horizon robotic tasks using short training trajectories. Yet, current approaches often rely on the heuristic stitching of local p…