UPS framework uses conformal prediction to calibrate VLM verifiers for choosing between high-confidence action execution, natural language task queries, or policy interventions, then applies residual learning from interventions to continually improve the base policy with minimal feedback.
Arxiv Preprint Arxiv:2510.16281 , year=
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Interventional attribution via ISS and NMR diagnoses causal misalignment in VLA policies and predicts their generalization performance across manipulation tasks.
SV-VLA uses infrequent heavy VLA planning of action chunks plus a lightweight closed-loop verifier to achieve both efficiency and robustness in dynamic robot control.
R&B-EnCoRe uses self-supervised importance-weighted variational inference to distill action-predictive reasoning datasets that improve VLA performance on manipulation, navigation, and driving tasks without external verifiers.
citing papers explorer
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When to Act, Ask, or Learn: Uncertainty-Aware Policy Steering
UPS framework uses conformal prediction to calibrate VLM verifiers for choosing between high-confidence action execution, natural language task queries, or policy interventions, then applies residual learning from interventions to continually improve the base policy with minimal feedback.
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Embodied Interpretability: Linking Causal Understanding to Generalization in Vision-Language-Action Models
Interventional attribution via ISS and NMR diagnoses causal misalignment in VLA policies and predicts their generalization performance across manipulation tasks.
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Open-Loop Planning, Closed-Loop Verification: Speculative Verification for VLA
SV-VLA uses infrequent heavy VLA planning of action chunks plus a lightweight closed-loop verifier to achieve both efficiency and robustness in dynamic robot control.
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Self-Supervised Bootstrapping of Action-Predictive Embodied Reasoning
R&B-EnCoRe uses self-supervised importance-weighted variational inference to distill action-predictive reasoning datasets that improve VLA performance on manipulation, navigation, and driving tasks without external verifiers.