Author

Bo-Tong Zhao

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Preprint Sep 2026

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...

Ke-Jia Hu, Wen Zhai, Bo-Tong Zhao et al. · 0 citations

#artificial intelligence Preprint Aug 2026

PAVE: Predictive Alignment and Value-Guided Evolution for World-Action Policies

Every valid trajectory can teach what physically happened, while the actor is deployed only under the condition associated with relatively better actions, in \method, a direct world-action policy that combines outcome-agnostic predictive learning with outcome-aware policy improvement.

Bo-Tong Zhao, Fangjie Yu, Tim Yu et al. · 0 citations