Author

Xianzhe Fan

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Preprint Oct 2026

VeriVLA: Adaptive Test-Time Verification for Flow-Based VLAs with Latent World Models

Flow-based Vision-Language-Action (VLA) policies are inherently stochastic: different noise seeds can produce action chunks of varying quality from the same observation. At test time, however, the policy typically commits to a single sample without an explicit estimate of its quality. In fine-grained manipulation, exec...

Xue-Li Sun, Yuxiang Lu, Yan-Tong Liu et al. · 0 citations

#artificial intelligence May 2026

DreamAvoid: Critical-Phase Test-Time Dreaming to Avoid Failures in VLA Policies

This work proposes DreamAvoid, a critical-phase test-time dreaming framework that enables VLA models to anticipate and avoid failures, and introduces an autonomous boundary learning paradigm to refine the system's understanding of the subtle boundary between success and failure.

Xianzhe Fan, Yuxiang Lu, Shen-Yuan Gao et al. · arXiv.org · 1 citation · ⚡1

Preprint Aug 2026

StreamPI: Streaming Multimodal Temporal Modeling for Vision-Language-Action Models

StreamPI is proposed, a streaming multimodal temporal modeling framework that equips single-frame VLA with temporal reasoning capability without introducing any additional parameters and seamlessly inherits pretrained single-frame weights and supports flexible single-frame and multi-frame inference.

Zhe Liu, Jing-Hua Hou, Yuxiang Lu et al. · 4 citations · ⚡1