Author

Lilika Makabe

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Preprint Oct 2026

ESP: Energy-Score Policy for One-Step Multimodal Action Generation

Generative action models based on diffusion and flow matching have been increasingly adopted in vision-language-action (VLA) policies for their ability to capture diverse behaviors, including multiple valid action sequences under the same observation and instruction. Their iterative sampling procedures, however, requir...

Lilika Makabe, Heecheol Kim, Yasuyuki Matsushita · 0 citations

#artificial intelligence Preprint Oct 2026

DiVeR: Decision-Critical Verifier Learning for VLA Test-Time Scaling

Scaling robot data and model capacity has improved Vision-Language-Action (VLA) policies, but further progress is constrained by the high cost of robotic data. Verifier-guided test-time scaling offers an efficient alternative by sampling multiple action candidates and selecting the one most likely to lead to task succe...

Seongheon Park, Heecheol Kim, Shu-Lin Tian et al. · 0 citations