Yuchun Feng — accepted AI-conference papers

2026

Demystifying Action Space Design for Robotic Manipulation Policies

Yuchun Feng, Jinliang Zheng, Zhihao Wang, Dongxiu Liu, Jianxiong Li, Jiangmiao Pang +2

ICML 2026poster

The specification of the action space plays a pivotal role in imitation-based robotic manipulation policy learning, fundamentally shaping the optimization landscape of policy learning. While recent advances have focused heavily on scaling training data and model capacity, the choice of action space …

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2026

X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model

Jinliang Zheng, Jianxiong Li, Zhihao Wang, Dongxiu Liu, Xirui Kang, Yuchun Feng +8

ICLR 2026poster

Successful generalist Vision-Language-Action (VLA) models that rely on effective training across diverse robotic platforms with large-scale, cross-embodiment, heterogeneous datasets. To facilitate and leverage the heterogeneity in rich, diverse robotic data sources, we propose a novel Soft Prompt ap…

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