Author

Hao-Chen Niu

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Preprint Sep 2026

Frequency-Conditioned Flow Matching for Vision-Language-Action Models

Robot actions are temporally correlated trajectories whose frequency components encode motion at different scales with highly non-uniform energy distributions. Yet Flow Matching--based vision-language-action (VLA) models typically generate actions in temporal coordinates, without explicitly modeling or systematically l...

Hao-Chen Niu, Shen-Ye Dong, Hao Liu et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Time-Frequency Geometric Cross-Attention for Chunked Vision-Language-Action Models

Time-Frequency Geometric Cross-Attention (TFGCA), a drop-in module repairing both blind spots in vision-language-action policies, uses a per-dimension learnable stationary wavelet transform to decompose the action chunk into time-frequency tokens, and each time token retrieves information from them via a cross-attentio...

Sheng-Ye Dong, Hao-Chen Niu, Hao Liu et al. · 0 citations