Author

Yan-Wei Fu

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Preprint Oct 2026

Look Before You Act: Bridging Active Perception and Vision-Language-Action Models via Observation-Aligned Data Adaptation

Robots manipulating objects in clutter must decide not only how to act, but also where to look. Although active camera motion can expose an occluded target, it may move the robot into an initial observation-state distribution that differs from the manipulation policy's training distribution. We identify this problem as...

Jia-Wei Geng, Zhen-Yang Liu, Yu-Zheng Wu et al. · 0 citations

#machine learning Feb 2026

Universal Pose Pretraining for Generalizable Vision-Language-Action Policies

Pose-VLA is proposed, a decoupled paradigm that separates VLA training into a pre-training phase for extracting universal 3D spatial priors in a unified camera-centric space, and a post-training phase for efficient embodiment alignment within robot-specific action space.

Haitao Lin, Hanyang Yu, Jingshun Huang et al. · Robotics · 11 citations