Author

Kaiyu Hang

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#artificial intelligence Preprint Oct 2026

What Matters in Quality-Aware VLA Pretraining: A Benchmark and Empirical Study

How should demonstration quality be used during vision-language-action (VLA) pretraining to improve performance after target-task fine-tuning? We compare weighting, filtering, and conditioning across reward definitions and label granularities using 5,000 naturally suboptimal human demonstrations and 24 target tasks. Wi...

Ming-Xuan Yan, Li-Tian Gong, Di Huang et al. · 0 citations

Preprint Sep 2026

RoboTok: A Scalable Data Engine for Internet Demonstration Video Retrieval and Dexterous Manipulation Learning

Robot learning increasingly depends on broad and diverse demonstrations, yet collecting robot data remains expensive and difficult to scale across the wide range of real-world tasks. To address this bottleneck, we introduce RoboTok, a scalable data engine that uses a query human manipulation video to retrieve manipulat...

Howard H. Qian, Yi-Ting Chen, Yun-Fei Xie et al. · 0 citations