Author

Kai Feng

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Preprint Sep 2026

Causeway: Restoring Task Accessibility for Instruction Switching in VLA Policies

Vision-language-action (VLA) policies can execute many tasks from standard initial states, yet a new instruction may fail after another task has altered the robot's physical state. We study instruction switching, where a new task is issued during or after the execution of a different one. We observe that a target task...

Qing-Zi Wang, Kai Feng, Guang-Yao Shi et al. · 0 citations

Jun 2026

Drop-Then-Recovery: How Redundant Are Vision-Language-Action Models?

The results suggest that current VLA benchmarks may exert limited pressure on deep language grounding and compositional instruction understanding, and that future VLA architectures should allocate capacity more deliberately across language, vision, and action components.

Guoheng Sun, Kai Feng, Shwai He et al. · arXiv.org · 0 citations