Author

Yikai Tang

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#artificial intelligence Preprint Oct 2026

What Matters in Quality-Aware VLA Pretraining: A Benchmark and Empirical Study

How should demonstration quality be used during vision-language-action (VLA) pretraining to improve performance after target-task fine-tuning? We compare weighting, filtering, and conditioning across reward definitions and label granularities using 5,000 naturally suboptimal human demonstrations and 24 target tasks. Wi...

Ming-Xuan Yan, Li-Tian Gong, Di Huang et al. · 0 citations

Jul 2026

AXIS: A Growable Community-Driven Data Engine for Scalable Robot Manipulation

AXIS, a growable community-driven data engine and benchmark for scalable robot learning, is presented, which enables browser-based teleoperation for large-scale demonstration collection, automatically generates and validates new manipulation tasks, and transforms community-collected demonstrations into training-ready d...

Meng-Fei Zhao, Di-Hong Huang, Yi-Kai Tang et al. · arXiv.org · 3 citations