Author

Zhi-Jun Cao

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Preprint Sep 2026

Where Success Breaks: Failure-Boundary Learning for Robust Vision-Language-Action Models

Vision-language-action (VLA) models adapted through supervised fine-tuning (SFT) inherit a structural asymmetry: expert demonstrations teach the policy where success behavior lies, but provide no signal about where it ceases to be reliable. We argue that robust VLA adaptation should therefore be viewed not as further d...

Yan-Zhe Chen, Zhi-Jun Cao, M. Shou · 1 citation

#artificial intelligence Preprint Sep 2026

Show-Harness: Just a VLM Agent Can Play Robots

Show-Harness, an Embodied Harness that enables VLMs to"play" robots through a compact semantic interface linking intent to action, and develops GUMI (GUI Manipulation Interface), which extends the same semantic action space to GUI-based demonstration collection, allowing humans and agents to"play"robots across embodime...

Yan-Zhe Chen, Ze-Chen Bai, Zhi-Jun Cao et al. · 26 citations · ⚡2