Author

Ying-Ying Pan

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Preprint Oct 2026

VLA-$\Delta$: Learning Physical State Transition for Vision-Language-Action Models

Vision-language-action (VLA) models transfer semantic knowledge acquired through vision-language pretraining to robot control, achieving strong performance across various benchmarks. However, most VLAs directly map observations to demonstrated actions without explicit supervision of intermediate physical state changes,...

Qian-Yu Lu, Jia-Run Li, Ce Zhang et al. · 0 citations

#artificial intelligence Preprint Oct 2026

VLA-Rolling: Fewer Denoising Steps, Better Control via Adaptive Action Reuse

VLA-Rolling is introduced, a lightweight inference framework that reuses action tails through three stages: action-tail inheritance, per-action confidence estimation, and confidence-guided refinement through renoising and denoising budget allocation, while the underlying VLA remains frozen.

Si-Cheng He, Ying-Ying Pan, Qiu-Ting Yu et al. · 0 citations