Author

Zhaxizhuoma

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Preprint Oct 2026

MixVLA: Adaptive Mixing of Non-Invariant Information for Generalizable Vision-Language-Action Models

Vision-Language-Action (VLA) models have achieved remarkable advances in robotic manipulation, yet their zero-shot generalization under out-of-distribution (OOD) conditions remains limited. These models often entangle task-relevant invariant structure with environment-specific non-invariant factors, causing policies to...

Ping-Rui Zhang, Yu Zhang, Peng-Yuan Wu et al. · 0 citations

Jul 2026

KAI: A Kinematic-Aware Interface for Data-Efficient Articulated Object Manipulation

The Kinematic-Aware Articulation Interface (KAI), a structured intermediate representation that captures the kinematic structure of articulated objects, is introduced, a structured intermediate representation that provides a strong inductive bias aligned with the underlying structure of articulated motion.

Ya-Ping Li, Zhaxizhuoma, Qiao-Jun Yu et al. · arXiv.org · 0 citations

Jul 2026

InternVLA-A1.5: Unifying Understanding, Latent Foresight, and Action for Compositional Generalization

InternVLA-A1.5 is presented, which builds the policy on a native VLM backbone that keeps training on VQA and subtask prediction, and attaches a lightweight unified expert for continuous action generation, and achieves the best overall results on all six simulation benchmarks.

Haoxiang Ma, Junhao Cai, Xiaoxu Xu et al. · arXiv.org · 10 citations · ⚡1