Author

Wei Huang

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#artificial intelligence Preprint Sep 2026

HIL-UMI: Bringing Human-in-the-Loop Post-Training of Vision-Language-Action Models to Universal Manipulation Interface

Large-scale vision-language-action (VLA) models provide powerful priors for robot manipulation, yet adapting them to a specific deployment remains challenging. Supervised fine-tuning (SFT) on task-specific demonstrations provides a step toward deployment, but faces two persistent limitations: static data provide limite...

Zimu Han, Yi-Ming Zeng, Ji-Yao Zhang et al. · 0 citations

#machine learning Preprint Jul 2026

Teaching Tiny VLA Models Where to Look and How to Move

XS-VLA is introduced, a lightweight framework that teaches tiny VLA policies "where to look" and "how to move" without increasing deployment-time model cost and shows that explicit spatial grounding and latent action-structure learning can make tiny VLA models effective for robotic manipulation.

Iok Tong Lei, Ying Jie Yap, Wei Huang et al. · 0 citations