3 papers
cs.RO2026
Does a Learned Corrector Beat a Simple Retreat? Evidence from a Frozen VLA
Chenchao Sheng, Zhuang Jiang, Liuhaichen Yang +2
Before deploying runtime recovery for a frozen vision-language-action (VLA) policy, one must establish that an intervention improves success beyond ordinary run-to-run variation an…
cs.AI2026
WAM-OPD: Joint Video-Action Supervision for World Action Model Post-Training with On-Policy Distillation
Liuhaichen Yang, Zhengyang Zhong, Zhuang Jiang +13
World Action Models (WAMs) generate both future video and robot actions, offering two connected outputs for post-training supervision. How can a pretrained WAM learn from a stronge…
cs.RO2026
Guided Action Flow: Value-Guided Sampling for Frozen Vision-Language-Action Policies
Liuhaichen Yang, Zhuang Jiang, Chenchao Sheng +8
Reinforcement learning can improve vision-language-action (VLA) policies beyond supervised fine-tuning, although this typically involves further updates to the policy parameters. F…