Sequential manipulation requires a robot to track what has already happened, even when the current scene no longer reveals it. Policies with explicit history representations make past interactions available as context for current decisions. We ask how action generation itself can form a persistent state for subsequent …
Moving obstacles can block a previously clear route while a quadruped robot executes a motion command. We investigate whether predicting changing clearance improves navigation when motion selection accounts for the robot footprint and the time needed to react and brake. We present FutureRay, which predicts ranges acros …
Best-of-$N$ is a widely used inference strategy for complex reasoning, whose effectiveness depends on whether sampled candidates can cover diverse and high-quality reasoning paths. However, post-trained reasoning models often suffer from \emph{exploration collapse}, where independent rollouts repeatedly follow similar …
Vision-language-action (VLA) policies increasingly incorporate structured intermediate supervision beyond action labels. Yet specifying what an intermediate representation should encode leaves open how action prediction learns to depend on it. We introduce \textbf{SCULPT-VLA}, a policy that learns structured control th …
We present Elevator-VIGS, a visual-inertial 3D Gaussian Splatting SLAM system that keeps tracking and mapping through elevator rides. Inside a moving elevator, the two sensors are in conflict. The camera sees only the robot's motion relative to the elevator, while the IMU senses that motion plus the elevator's motion r …
The widespread adoption of long-horizon agents has made model workloads increasingly input-heavy. Although prior work has substantially reduced the cost of long-context computation, prefill remains computationally expensive, and large KV caches continue to strain HBM and SSD capacity and data-transfer bandwidth. Togeth …
Can changing only the language instruction redirect a VLA policy's end effector, or does the visually driven motion prior dominate? We present Atomic Motion Coordinate, a geometry-grounded coordinate for steerable and force-responsive manipulation. Each arm owns thirteen signed translation, rotation, and hold atoms gro …