4 papers · 1 filter
ActFovea: Runtime Safeguarding for VLA Policies via Spatiotemporal Visual-Action Consistency
Wenda Yu, Tianshi Wang, Fengling Li +3
Vision-language-action (VLA) policies achieve strong performance in robotic manipulation but remain vulnerable to runtime disturbances that break the temporal alignment among visua…
Non-Markovian Long-Horizon Robot Manipulation via Keyframe Chaining
Yipeng Chen, Wentao Tan, Lei Zhu +4
Existing Vision-Language-Action (VLA) models often struggle to generalize to long-horizon tasks due to their heavy reliance on immediate observations. While recent studies incorpor…
Self-Correcting VLA: Online Action Refinement via Sparse World Imagination
Chenyv Liu, Wentao Tan, Lei Zhu +4
Standard vision-language-action (VLA) models rely on fitting statistical data priors, limiting their robust understanding of underlying physical dynamics. Reinforcement learning en…
MOTIF: Learning Action Motifs for Few-shot Cross-Embodiment Transfer
Heng Zhi, Wentao Tan, Lei Zhu +4
While vision-language-action (VLA) models have advanced generalist robotic learning, cross-embodiment transfer remains challenging due to kinematic heterogeneity and the high cost…