17 papers
Suppression Sticks, Locality Is Fragile: A Closed-Loop Target-and-Control Audit of Task-Vector Negation in VLA Policies
Shaoguang Wang, Weiyu Guo, Rushi Dai +3
Task-vector arithmetic offers a closed-form way to modify a model, yet its behavioral locality remains unclear in closed-loop robot control. We present a target-and-control audit o…
How Should Vision-Language-Action Models Use Proprioceptive State?
Yiren Zhao, Ziyang Chen, Ziyang Rao +5
Recent Vision-Language-Action (VLA) models almost universally take robot proprioceptive state as input, yet wire it in incompatible ways -- serialized into text prompts, projected…
The Geometry of Flow-Matching Uncertainty: A Cost-free Uncertainty Proxy and Its Application in Flow-based VLA Failure Detection
Ziyang Rao, Yiren Zhao, Weiyu Guo +3
The paper interprets uncertainty in flow‑matching based action models as geometric deviation in the velocity field and proposes a cost‑free proxy called denoising acceleration that…
Source-Lifted Flow Matching for Intervenable Multimodal Imitation
He Zhang, Ying Sun, Pengteng Li +6
Flow-matching policies are promising for imitation learning because they model complex multimodal action distributions. However, their stochasticity is largely passive: repeated sa…
Event-VLA: Action-Conditioned Event Fusion for Robust Vision-Language-Action Model
Jiaxin Liu, Xun Xu, Zhenhao Zhang +5
Vision-Language-Action (VLA) models have become an important paradigm of embodied AI. However, existing VLA models typically assume well-lit and stable indoor settings, while real-…
PHASER: Phase-Aware and Semantic Experience Replay for Vision-Language-Action Models
Ziyang Chen, Shaoguang Wang, Weiyu Guo +5
Vision-Language-Action (VLA) models have achieved remarkable success in language-conditioned robotic manipulation. However, deploying these models in open-ended environments requir…