Author

Chenchao Sheng

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Preprint Oct 2026

Does a Learned Corrector Beat a Simple Retreat? Evidence from a Frozen VLA

Before deploying runtime recovery for a frozen vision-language-action (VLA) policy, one must establish that an intervention improves success beyond ordinary run-to-run variation and that its complexity adds value over a simple action. We evaluate these questions on frozen $\pi_{0.5}$ across four RoboTwin tasks. For eac...

Chen-Chao Sheng, Zhuang Jiang, Liu Yang et al. · 0 citations

#robotics Preprint Aug 2026

WAM-OPD: On-Policy Distillation for World Action Models

WAM-OPD, a deployment-consistent post-training recipe for a video-first WAM, is introduced and it is suggested that dense teacher supervision on student-induced histories is a promising post-training interface for video-first WAMs.

Liu Yang, Zhuang Jiang, Chenchao Sheng et al. · 2 citations