Author

Rui-Zhe Liu

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Preprint Sep 2026

TraceFlow: Guiding Frozen Flow-Matching Robot Policies with Success and Failure Traces

A vision-language-action (VLA) policy with a flow-matching action expert generates each action chunk (a short command sequence) by integrating a learned velocity field; once its weights are fixed, the success or failure of an earlier rollout cannot change the chunk generated now. Concurrent test-time methods give a fro...

Jia-Xuan Zhang, Rui-Zhe Liu, Yu Zhang et al. · 1 citation

#artificial intelligence Jun 2026

SoftSkill: Behavioral Compression for Contextual Adaptation

Findings show that a skill document can serve as the starting point for a continuous control that improves both answers and actions without updating the backbone.

Xi-Jia Tao, Yi-Hua Teng, Xin-Yu Fu et al. · arXiv.org · 3 citations

Jul 2026

Geometry-Aware Motion Latents for Learning Robust Manipulation Policies

Geometry-Aware Motion Latents is introduced, which learns discrete motion latent codes by predicting how point clouds evolve during manipulation rather than reconstructing visual observations, demonstrating that effective motion latents for robot control can better emerge from understanding motion through its three-dim...

Yunchao Zhang, Yijia Weng, Ruizhe Liu et al. · arXiv.org · 0 citations