ContactWorld: What Representations Matter for Vision-Tactile World Models in Contact-Rich Manipulation
Zhi-Yuan Zhang, Po-Kuang Zhou, Kai-Di Zhang et al.
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PHR-VLA: Planning Horizon Reasoning for Vision-Language-Action Models
PHR-VLA introduces a lightweight auxiliary future head that, during training, aligns the VLA's internal representations with latent dynamics extracted from future observations, demonstrating that privileged latent dynamics alignment provides an effective training signal for improving anticipatory reasoning in VLA polic...
Davood Soleymanzadeh, Kai-Di Zhang, Zhi-Yuan Zhang et al.
· 2 citations