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cs.RO2026
Object-Centric Conditioning for Visuomotor Flow Matching
Jijie Li, Xu Yang, Junhong Zou +4
Robot visuomotor policies are commonly formulated as autoregressive, diffusion-based, or more recently, flow matching models. Among them, Action-to-Action (A2A) flow matching impro…
cs.RO2026
Temporal Forcing: 4D Representation Alignment for Vision-Language-Action Models
Xingyu Ding, Yuzhong Zhao, Chunhai Zhao +3
Long-horizon robotic manipulation requires vision-language-action (VLA) models to track scene states and their evolution beyond the current observation. However, simply conditionin…
cs.RO2026
Mind-VLA: Instruction-Aware Spatial Representation Alignment for Vision-Language-Action Models
Xingyu Ding, Yuzhong Zhao, Yang Wu +4
Recent Vision-Language-Action (VLA) methods improve generalization by aligning their representations with 3D scene geometry. However, these methods are fundamentally instruction-ag…