Authors

Yilun Kong

Publications 2

Preprint Open access

Rewiring Semantics, Dynamics, and Control: A Simple yet Effective Action-Centric Tri-Stream Transformer

Shuang Luo, Yilun Kong, Yunpeng Qing et al. · 2026

Vision-Language-Action (VLA) models have emerged as a prominent framework for complex robotic manipulation, building on the strong semantic understanding of pretrained Vision-Language Models (VLMs). However, such VLM backbones offer insufficient physical dynamics priors, which limits the generalization capabilities of …

Preprint Open access

PF-RL: Progress Field Reinforcement Learning via Goal-Conditioned Value Geometry for Vision-Language-Action Models

Yunpeng Qing, Yilun Kong, Sixu Lin et al. · 2026

Reinforcement Fine-Tuning~(RFT) has emerged as a promising paradigm for improving Vision-Language-Action~(VLA) policies, yet sparse task-level outcomes provide limited credit for intermediate transitions, especially in long-horizon manipulation. A natural approach is to model intermediate task progress and use it as de …

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