Latent world models predict the consequences of actions, but accurate prediction does not guarantee that latent distance reflects which candidate will execute successfully. We identify a decision-local prediction gap: among the few futures competing for execution, a candidate predicted closer to the goal can produce a...
Shuai-Jun Liu, Cheng-Ju Wu, Qi-Fu Wen et al.· 0 citations
Vision-language-action (VLA) models have achieved strong performance in embodied manipulation, but still struggle to distinguish between changes that should preserve behavior and those that require different actions. We identify two complementary failure modes. Under task-preserving changes, where task semantics remain...
Shuai-Jun Liu, Fei-Yang You, Cheng-Ju Wu et al.· 0 citations
BRACE is presented, a controller that formulates replanning as a budgeted control loop by deciding whether to replan, selecting a replanning mode, and allocating an explicit token budget and latency service-level objective (SLO) while accounting for optional efficiency modules.
Shuai-Jun Liu, Fei-Yang You, Xing-Wei Chen et al.· 1 citation
Token skipping is a widely used training-free way to accelerate vision--language--action (VLA) models by bypassing computation for most visual tokens at each control step according to a gate. When the next gate is harvested from the previous accelerated forward, however, the tokens skipped at one step are also the ones...
Qi Luo, Shuaijun Liu, Hao Zhao et al.· 0 citations
CPM-MultiAgent is proposed, a CPM-grounded emotion evolution multi-agent framework for supporting emotional changes in persona-based dialogue that represents a character's emotion as a latent state that is continuously reshaped by dialogue triggers.
Jingyao Cai, Shuaijun Liu, Abdul Rehman et al.· arXiv.org· 0 citations
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