Author

Rui-Lin Wang

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Jul 2026

SkillNav: Score-Level Skill Intervention for Zero-Shot Object Goal Navigation

Vision-Language Model (VLM) agents have advanced zero-shot object-goal navigation, yet single-frame reasoning leaves them without the cross-step behavioral awareness an embodied navigator requires, producing recurring failures such as dead-end stalls, in-room loops, and circuitous approaches to detected targets. Prompt...

Rui Sang, Yiqun Duan, Pinhan Fu et al. · arXiv.org · 0 citations

Jul 2026

TrustVLA: Mechanism-Guided Inference-Time Defense Against Vision-Language-Action Backdoors

TrustVLA is introduced, a mechanism-guided inference-time defense that adapts the Dirichlet evidence framework from trusted classification to monitor per-token, per-layer epistemic uncertainty in VLA policies, providing a retraining-free, mechanism-guided defense for visual-triggered VLA backdoors.

Pin-Han Fu, Xian-Da Guo, Xue-Tao Li et al. · arXiv.org · 0 citations