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cs.RO2026
CoWAM: Coordination Contracts for Selective Policy Intervention with WAMs
Shuaijun Liu, Qifu Wen, Shuyang Hao +5
World Action Models (WAMs) augment robot policies with action-conditioned predicted futures, but a plausible future alone does not justify changing the action that a bimanual polic…
cs.RO2026
When Replanning Becomes the Bottleneck: Budgeted Replanning for Embodied Agents
Shuaijun Liu, Feiyang You, Xingwei Chen +1
Embodied agents replan frequently to recover from execution drift, partial observability, and coordination hazards, but each LLM-based replanning call can consume an accumulated te…
cs.RO2026
The Gate, Not the Cache: Gate Provenance Bounds the Closed-Loop Reliability of Training-Free VLA Token Skipping
Qi Luo, Shuaijun Liu, Hao Zhao +5
Token skipping is a widely used training-free way to accelerate vision--language--action (VLA) models by bypassing computation for most visual tokens at each control step according…