Author

Jeongsol Kim

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#artificial intelligence Preprint Oct 2026

FastOPD: On-Policy Distillation for Lightweight VLA Deployment

Vision-Language-Action (VLA) foundation models have scaled rapidly to enhance manipulation performance and generalizability, but this scaling incurs high computational costs that render real-world deployment increasingly challenging. Existing approaches typically mitigate this issue by designing smaller architectures o...

Yoojin Oh, Jeongsol Kim, Yeonwoo Seo et al. · 0 citations

#machine learning Preprint Sep 2026

Adjoint Guidance Flow: Amortized Critic Guidance for VLA Policies

Adjoint Guidance Flow is proposed, which is a deterministic optimal control problem, whose optimal guidance is a costate that carries the terminal critic gradient back through the remaining flow, and regress the guidance network onto this costate while keeping both the VLA and critic frozen.

Jeongsol Kim, Youngjun Jun, Kyumin Choi et al. · 0 citations