Wen Zhai

Imagine-RL: Residual-Confidence-Guided Cross-Attention for World-Model-Augmented VLA Reinforcement Learning

Reliable action evaluation in contact-rich manipulation requires looking beyond the current observation to future visual and contact consequences. Existing noise-space reinforcement learning efficiently steers a frozen Vision-Language-Action (VLA) policy, but its critics largely ignore these consequences. We present Im...