Yi-Nan Wu

PhaseLoRA: Control-Regime-Conditioned Low-Rank Adaptation for Continuous-Action Vision-Language-Action Policies

Parameter-efficient fine-tuning (PEFT) is a natural way to adapt pretrained vision-language-action (VLA) policies, but most adapter designs apply temporally static updates throughout a control rollout, overlooking the phase-dependent nature of continuous-action manipulation. Such policies traverse distinct regimes, inc...