Author

Jia-Heng Wang

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Preprint Oct 2026

eRLT: Efficient VLA Reinforcement Learning via Action-Relevant Token Routing

Vision-Language-Action (VLA) models provide strong behavioral priors for robotic manipulation, yet efficiently adapting them to downstream tasks remains challenging. Recent work addresses this challenge by adapting frozen VLAs through online reinforcement learning (RL), whose sample efficiency depends on the quality of...

De-Hao Huang, Jian-Bang Liu, Jian-Pan Gao et al. · 0 citations

Preprint Sep 2026

ActGaze: Learning Action-Grounded Gaze through Counterfactual Visual Interventions for High-Precision Manipulation

Current Vision-Language-Action (VLA) models often struggle with high-precision robotic manipulation. We attribute this limitation primarily to their visual attention being dispersed across task-irrelevant regions. To address this issue, we propose ActGaze, a training approach that guides VLA policies to gaze on task-re...

Jin-Xuan Zhu, Jia-Heng Wang, Chao Tang et al. · 0 citations

Preprint Sep 2026

PSR: Predictive Sensorimotor Representation Learning for Contact-Rich Manipulation

Contact-rich manipulation requires policies to generate precise actions by reasoning over contact forces, robot configurations, and interaction histories beyond visual observations. Existing methods passively condition on force feedback rather than actively predicting future contact dynamics, limiting their ability to...

Sheng-Bao Li, Peng Xu, Chao Tang et al. · 0 citations