TAO-Force is proposed, a force-conditioned VLA framework that combines force-aware policy learning with contact-regulated execution and introduces Force-conditioned Feature-wise Linear Modulation to inject encoded force feedback into the representations of a frozen pretrained visual-language backbone while preserving i...
Bo-Han Gan, Xuan Wen, Yong-Shen Zhao et al.· 0 citations
Vision-Language-Action (VLA) models based on generative frameworks, such as Flow Matching, have recently achieved impressive performance in robotic manipulation. Unlike deterministic policies, Flow Matching enables VLA models to learn conditional action trajectory distributions, where latent noise vectors induce differ...
Gong-Xin Yao, Yong-Shen Zhao, Jia-Yi Deng et al.· 0 citations
A symmetric Dual-Arm Expert (DAE) architecture built upon a shared Vision-Language Model (VLM) backbone with decoupled, arm-specific expert towers is proposed, providing preliminary evidence of emergent skill generalization from single- to dual-arm tasks (as well as the reverse), together with cross-arm motion-domain s...
Yong-Shen Zhao, Han Gao, Bao-Ping Cheng et al.· 0 citations
Ablations show that softmax approximation dominates the error budget and CKKS arithmetic noise is negligible in the authors' setting, suggesting that SNLP is complementary to block-level FHE-friendly operator design rather than a replacement for it.
Ligong Han, Kai Xu, Hao Wang et al.· arXiv.org· 0 citations
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