Author

Dhia Naouali

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#machine learning Preprint Oct 2026

Cross-Time Directional Selection in Diffusion Sampling

How strongly do the remaining diffusion-sampling steps amplify a perturbation at a late latent state? Standard measurements answer this question with newly sampled isotropic noise, even though perturbations encountered during sampling have already been transformed by earlier steps. We compare these two cases directly....

Dhia Naouali · 0 citations

#machine learning Preprint Aug 2026

VLCP: Vision Language Control Policy Closed-Loop Code Replanning for Robot Manipulation

VLCP closes the loop where the failure actually lives, on the control code, within a single episode, and keeps the VLM frozen, which is a training-free policy with a tenfold gap between pooled success and confidence intervals in every scene family.

Dhia Naouali, Ming Wu, Claudia Wong et al. · 0 citations