Author

Zhenyang Feng

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#machine learning Preprint Sep 2026

TEMPO: Learning Temporal Context for Dynamic Robot Manipulation

Vision-language-action (VLA) models have achieved impressive performance in quasi-static manipulation, but struggle in dynamic manipulation tasks because they operate on a single observation at inference time. We identify two representational failures that underlie this limitation. The first is motion ambiguity, where...

Zhen-Yang Feng, Jimin Heo, Erik B. Sudderth et al. · 2 citations · ⚡1

Preprint Aug 2026

Unified Visuomotor Targets: Supervising VLAs Beyond Physical Actions

Applied to two representative VLA systems across simulation benchmarks and real bimanual manipulation tasks, UVT improves training efficiency, final task performance, and policy robustness, with particularly strong gains under limited training budgets and challenging environmental conditions.

Zhen-Yang Feng, Unnat Jain · 1 citation