Author

Xin-Yu Zhou

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Preprint Sep 2026

Fast Plans, Faithful Actions: Closing the Planning-Execution Gap in Hierarchical Vision-Language-Action Models

Hierarchical vision-language-action (VLA) systems consist of a high-level vision-language planner and a low-level action expert that generates continuous actions. This hierarchical design has practical value only if the planner can generate plans fast enough to meet real-time control requirements, and the resulting pla...

Chuan-Liang Xie, Bo-Yu Ma, Gen Li et al. · 0 citations

Preprint Aug 2026

Unified Condition-Action Modeling for Accurate One-Step Action Generation

This work proposes UCA-Flow, a unified condition-action modeling framework for accurate one-step action generation that unifies observation conditions, timestep conditions, interval conditions, and action tokens into a single sequence, and processes them with a Unified Condition-Action Transformer for joint condition-a...

Xin-Yu Zhou, Zikun Cai, Kuangji Zuo et al. · 0 citations