Author

Shuang Dai

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Preprint Sep 2026

Knowing When to Stop: Adaptive Action Chunking via Internal Cross-Attention Dynamics in VLAs

Action chunking is a standard execution strategy in modern Vision-Language-Action (VLA) frameworks, but fixed execution horizons impose a trade-off between efficiency and accuracy. Short chunks require frequent inference and may cause oscillatory behavior, whereas long chunks can become misaligned with newly observed s...

Runze Xu, Xiaolong Shan, Shuang Dai et al. · 0 citations

Preprint Sep 2026

RoboDrop: Curating VLA Post-Training Data via Local Gradient Compatibility

Vision--language--action (VLA) models acquire broad generalization through large-scale pretraining, yet adapting them to a new task and robot embodiment still requires post-training on newly collected data. Unlike pretraining, post-training targets task- and embodiment-specific adaptation, making it particularly sensit...

Runze Xu, Yuanfan Xu, Cui-Jie Xu et al. · 0 citations