Author

Yasuyuki Matsushita

3 papers indexed here

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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

Preprint Sep 2026

VLaRL: Augmenting Vision-Language-Action Models with Simulation-Trained Latent-Conditioned Residual RL

Vision-language-action (VLA) models provide broad, instruction-conditioned manipulation behaviors, but their physical execution can remain imprecise during contact-rich interaction. Residual reinforcement learning (RL) can correct such errors while keeping the VLA frozen, but real-robot RL is costly and safety-critical...

Namiko Saito, Kinam Kim, Heecheol Kim et al. · 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