Author

Haoran Li

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Preprint Sep 2026

Token-World: World Modeling in Vision-Language Model Token Space for Robot Manipulation

Token-World is introduced, an action-conditioned world model that compresses VLM features into a compact token state, learns future dynamics in this reduced space, and maps predicted states back to the original policy-facing representation for downstream use.

Chu-Yao Fu, Xiao-Wei Chi, Yu-Han Rui et al. · 0 citations

Preprint Jul 2026

Look Before You Leap: Distilling Tree Search into Action Evaluation for Frozen VLA Models

By decoupling action proposal from consequence evaluation, SVA preserves the generalization capacity of the VLA backbone while substantially improving task success rates, and shows that SVA consistently improves generalization on unseen tasks and exhibits strong test-time scaling behavior.

Xinyi Xie, Zican Hu, Zhanyun Liu et al. · 0 citations