Author

Ying Jie Yap

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Jul 2026

ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning

While standard end-to-end baselines struggle to complete these logically demanding tasks, ACE achieves a 50% success rate in equation formation and a 70% success rate in constraint retrieval, demonstrating that explicit workflow reasoning and mask-mediated control offer a robust, practical route toward adaptable robotic manipulation.

Iok Tong Lei, Qianzhi Li, Ying Jie Yap et al. · arXiv.org · 0 citations

Preprint Jul 2026

Teaching Tiny VLA Models Where to Look and How to Move

XS-VLA is introduced, a lightweight framework that teaches tiny VLA policies "where to look" and "how to move" without increasing deployment-time model cost and shows that explicit spatial grounding and latent action-structure learning can make tiny VLA models effective for robotic manipulation.

Iok Tong Lei, Ying Jie Yap, Wei Huang et al. · 0 citations