Author

M. Wang

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#artificial intelligence Jun 2026

InSight: Self-Guided Skill Acquisition via Steerable VLAs

InSight is a framework for self-guided skill acquisition that uses a VLM to identify primitives missing from a VLA's repertoire, grounds the VLM's proposals through robot execution, and distills new primitives from successful rollouts into the VLA.

M. Wang, Lars W. Osterberg, Stephen Tian et al. · arXiv.org · 3 citations · ⚡1

Preprint Aug 2026

UniMem: Unifying Multimodal Memory and Control for Vision-Language-Action Models

UniMem is presented, a framework that unifies high-level, multimodal memory and low-level control under one backbone that outperforms fixed-interval image sampling baselines in simulation and hierarchical baselines in hardware, while offering faster inference and a simple training pipeline for easy adoption.

Lars W. Osterberg, M. Wang, Mac Schwager · 1 citation