Author

Jia-Ning Qian

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Preprint Sep 2026

IMLE-VLA: Fast Single-Step Action Generation for Vision-Language-Action Policies

Vision-language-action (VLA) policies leverage pretrained vision-language backbones to achieve strong cross-task generalization. A leading design couples this backbone with a dedicated continuous action head trained via diffusion or flow matching. However, such heads rely on iterative multi-step sampling, for example 1...

Kian Hosseinkhani, Qin-He Peng, George Shramko et al. · 0 citations

Points2Reward: Robotic Manipulation Rewards from Just One Video

P2R tracks task-relevant object points in task demonstrations and policy rollouts, and matches them to compare the desired and achieved object trajectories to generate reward scores, which effectively computes dense rewards from a single video.

Junyao Shi, Joshua Smith, Jia-Ning Qian et al. · 6 citations