Author

Zipeng Ye

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Preprint Oct 2026

Flow-Support-Weighted Proposals for Test-Time Verified VLA Policies

Test-time sampling promises to turn one action prediction into a set of distinct executable candidates that a verifier can choose among. Downstream fine-tuning works against that promise. A vision-language-action model trained to solve one task distribution concentrates its flow-matching decoder around the dominant dem...

Chen Zhao, Zi-Peng Ye, Hai-Tao Shen et al. · 0 citations

Preprint Oct 2026

What Limits Cross-Task Generalization in World Action Models?

Cross-task generalization remains difficult for world action models (WAMs), even when their predicted futures depict plausible manipulation. This gap can be attributed directly: we make this gap directly testable by decoupling a WAM into a world model and an inverse-dynamics model (IDM), then holding the IDM fixed whil...

Chen Zhao, Zi-Peng Ye, Yi-Han Lin et al. · 0 citations

Preprint Aug 2026

Beyond Placement and Articulation: Usage-Driven Code Scenes for Embodied Interaction

RoomWright is presented, an agentic usage-driven framework for generating 3D scenes represented entirely as code for embodied interaction, providing interactive environments for embodied AI and policy learning.

Zijian Xiao, Zi-Peng Ye, Jin-Kun Hao et al. · 2 citations