Author

Jun-Lan Xiao

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Preprint Oct 2026

Arm-wise Compositional Generalization in Dual-Arm Vision-Language-Action Models

Generalization in multi-arm collaboration can be studied as composing familiar atomic skills in new ways across arms. However, existing evaluations offer limited insight into which training and architectural choices support this ability under different coordination requirements. We introduce \textbf{ACG-Bench}, a bench...

Zai-Bin Zhang, Bing-Hao Ran, Yu-Han Wu et al. · 0 citations

Preprint Sep 2026

CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies

This work proposes CARE (Corrective Atomic Robotic Execution), a framework that improves recovery by learning from failures encountered during execution, and introduces the Failure State Recovery Benchmark (FSR-Bench), which evaluates recovery from intermediate failure states under local deviations and structural anoma...

Jun-Lan Xiao, Jun-Wei Jiang, Zai-Bin Zhang et al. · 0 citations

Preprint Aug 2026

MA-VLA: Multi-Arm Vision-Language-Action Model for Collaboration and Compositional Generalization

MA-VLA decomposes cooperative behavior into mid-level atomic prompts and allocates them to individual arms, enabling explicit subgoal specification and compositional reuse across tasks and indicates that structured, per-arm atomic action assignment offers a practical route to scalable generalization in multi-arm embodi...

Zai-Bin Zhang, Jun-Lan Xiao, Zhong-Bo Zhang et al. · 4 citations