Author

Jianhua Yang

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Preprint Oct 2026

ViDAL: A Visual Dynamics-Grounded Action Latent Space for Vision-Language-Action Models

Vision-Language-Action (VLA) models have become a central paradigm for robot policy learning, which predict actions in three forms: raw action chunks, discrete action tokens, or continuous action latents. However, existing action representations primarily model action trajectories, with limited consideration of the vis...

Yuan Xu, Yi-Xiang Chen, Qi-Sen Ma et al. · 0 citations

Jul 2026

UESF-Bench: Benchmarking and Probing for Unified Embodied Seeking and Following

The Unified Embodied Seeking and Following Benchmark (UESF-Bench) is introduced, a large-scale and diverse benchmark for embodied human seeking and following that requires agents to handle semantic-guided exploration, reliable behavior switching and recovery, and delayed identity grounding.

Kun Yu, Jianhua Yang, Yixiang Chen et al. · arXiv.org · 0 citations