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cs.RO2026
GROOVE: Geometry-Guided Reduction of Operational-Space Jerk in VLA Execution
Sangho Yun, Minsoo Kim, Minwoo Cho +1
Chunked vision language action (VLA) policies execute several commands per query, but jerk within chunks and across replanning boundaries can induce oscillatory motion and sharp ac…
cs.RO2026
RA-VLA: Retrieval-Augmented VLA for Test-Time Adaptation
Sanghwan Jang, Minjin Jeon, Minsoo Kim +3
Vision-Language-Action (VLA) models provide a versatile foundation for general robotic manipulation, yet they exhibit significant brittleness when confronted with novel task distri…