2 papers
cs.RO2026
Frequency-Conditioned Flow Matching for Vision-Language-Action Models
Haochen Niu, Shengye Dong, Hao Liu +2
Robot actions are temporally correlated trajectories whose frequency components encode motion at different scales with highly non-uniform energy distributions. Yet Flow Matching--b…
cs.AI2026
Time-Frequency Geometric Cross-Attention for Chunked Vision-Language-Action Models
Shengye Dong, Haochen Niu, Hao Liu +3
Modern vision-language-action (VLA) policies predict a whole chunk of actions: one to two seconds of coordinated motion emitted in a single forward pass. Yet an action chunk is ess…