3 papers
cs.RO2026
MIM-VLA: Learning Physical Interaction Representations from Gripper Motor Feedback
Jaeyoung Lee, Jiyeon Koo, Taehwa Kim +2
Vision-language-action (VLA) policies infer grasp actions primarily from visual observations and robot state, but do not explicitly represent the physical response observed after c…
cs.RO2026
From Legs to Wheels: Embodiment-Aware Human Motion Retargeting for Mobile-Base Humanoids
Jiyeon Koo, Eunseom Pyo, Jeonghee Seo +2
Human video offers a scalable source of robot demonstrations, yet most human-to-humanoid retargeting methods assume a legged robot with human-like kinematics. This assumption does…
cs.RO2025
RetoVLA: Reusing Register Tokens for Spatial Reasoning in Vision-Language-Action Models
Jiyeon Koo, Taewan Cho, Hyunjoon Kang +4
Vision-Language-Action (VLA) models have demonstrated robust performance across diverse robotic tasks. However, their high memory and computational demands often limit real-time de…