Author

Jeffrey Ichnowski

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Preprint Sep 2026

PointZero: 3D Point Track Completion for Learning Transferable 3D Dynamics

It is shown that a flexible and expressive transformer, PointZero, outperforms prior methods on the same data and demonstrates the utility of the pre-training objective by post-training PointZero for two downstream applications: action-conditioned 3D dynamics prediction and imitation learning.

B. Duisterhof, Kai-Feng Zhang, Adam Hung et al. · 5 citations · ⚡1

#machine learning Preprint Sep 2026

Not All Layers Need Tuning: Diagnosing and Directing Adaptation in Vision-Language-Action Models

Fine-tuning a Vision-Language-Action (VLA) model for a new deployment environment is expensive, yet most methods apply uniform-capacity adapters to every network region as if every region requires equal adjustment. This paper tests that assumption on five architecturally diverse VLAs (OpenVLA-OFT, $\pi_0$, SmolVLA, DTP...

Shahram Najam Syed, Arthur Jakobsson, Prayuj Sachdev et al. · 0 citations