Author

Jianmin Ji

3 papers indexed here

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Preprint Oct 2026

VLA-Stem: A Lightweight Safety Mechanism for Vision-Language-Action Models via Reinforcement Learning

Vision-Language-Action (VLA) models integrate high-level reasoning with low-level action execution for end-to-end robotic control. However, most VLA models target static manipulation in unconstrained environments, overlooking spatial constraints and dynamic obstacles. Fine-tuning VLAs on obstacle-avoidance data is a st...

Bo Zou, Wen-Hao Yu, Jia-Hao Li et al. · 0 citations

Preprint Oct 2026

TrajWAM: An Efficient Trajectory-Guided World Action Model for Dynamic Robotic Manipulation

Dynamic object manipulation requires robots to anticipate target motion while replanning fast enough to avoid executing outdated actions. Existing approaches either rely on fast reactive control without an explicit future target state or encode anticipated motion only implicitly. World Action Models (WAMs) offer a prom...

Hao-Han Geng, Sha Zhang, Wei Sun et al. · 1 citation

Jul 2026

CAC-VLA: Context-Gated Action Conditioning for Vision-Language-Action Models

CAC-VLA is proposed, a Context-Gated Action Conditioning framework that learns a lightweight latent-action interface directly within the VLM that enables VLM-native action conditioning while calibrating the influence of latent-action guidance on expert action generation.

Yi-Fu Xiong, Wen-Hao Yu, Jia-Xuan Lin et al. · arXiv.org · 2 citations · ⚡1