Author

Haoran Li

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Preprint Sep 2026

Token-World: World Modeling in Vision-Language Model Token Space for Robot Manipulation

A common approach to world-model simulation for vision-language-action (VLA) systems is to predict future RGB observations and then re-encode them into policy inputs, introducing an indirect interface between simulation and downstream policy execution. We instead investigate whether world dynamics can be modeled in a c...

Chu-Yao Fu, Xiao-Wei Chi, Yu-Han Rui et al. · 0 citations

Preprint Jul 2026

Look Before You Leap: Distilling Tree Search into Action Evaluation for Frozen VLA Models

By decoupling action proposal from consequence evaluation, SVA preserves the generalization capacity of the VLA backbone while substantially improving task success rates, and shows that SVA consistently improves generalization on unseen tasks and exhibits strong test-time scaling behavior.

Xinyi Xie, Zican Hu, Zhanyun Liu et al. · 0 citations