Author

Xia-Tao Sun

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Preprint Sep 2026

Decoupling Vision, Language, and Action for Efficient Multi-Task Robot Policies

Vision-Language-Action (VLA) policies commonly run Vision-Language Model (VLM) backbones with billions of parameters at every policy inference, which costs latency and energy. We revisit a decoupled alternative for multi-task manipulation: separate vision and language encoders whose representations condition a compact...

Xia-Tao Sun, Chen Liang, Zi-Yao Zeng et al. · 2 citations

Preprint Jul 2026

Artificial Foveated Perception for Mitigating Shortcut Learning in Robotic Foundation Models

Artificial Foveated Perception is proposed, a lightweight, policy-agnostic module that takes the same vision and language inputs as Vision-Language-Action and World Action Model pipelines and predicts task-conditioned masks over relevant objects, the robot, and other action-critical regions and reduces fine-tuning time...

Xia-Tao Sun, Yuan Zhuang, Mateo Sanchez Lopez Negrete et al. · 0 citations