Author

Chen-Yang Si

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Preprint Sep 2026

Know Your Body: A Harness for Direct and Self-Improving Robot Control with VLMs

A general-purpose vision-language model can understand a task goal without knowing how a particular robot's motion and functional parts produce the intended effect. We introduce KnowBody, a harness that makes these action-relevant body relations explicit, queryable, and revisable while keeping the model weights frozen....

Zeyuan Lou, Yan-Hong Zeng, Yong Wang et al. · 0 citations

#small language model Preprint Sep 2026

SafeLoop: Risk-Aware Rollback for Vision-Language-Action Manipulation

SafeLoop is introduced, a non-invasive external wrapper that adds hazard prediction and rollback-based recovery to a VLA model without changing its parameters, and achieves a stronger overall safety-success trade-off than alternative methods.

Zeyuan Lou, Tian-Ran Zhang, Xin-Quan Yue et al. · 0 citations