相关论文: Beyond Steering Vector: Flow-based Activation Stee…

Offline reinforcement learning (RL) allows robots to learn from offline datasets without risky exploration. Yet, offline RL's performance often hinges on a brittle trade-off between (1) return maximization, which can push policies outside…

Activation steering has emerged as a cost-effective paradigm for modifying large language model (LLM) behaviors. Existing methods typically intervene at the block level, steering the bundled activations of selected attention heads,…

Activation steering controls language model behavior by adding directions to internal representations at inference time, but standard residual-stream steering can fail in stateful dialogue. We identify KV-cache contamination as a key…

Recent advances in flow-based generative models have enabled training-free, text-guided image editing by inverting an image into its latent noise and regenerating it under a new target conditional guidance. However, existing methods…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for general-purpose robotic control, with test-time scaling (TTS) gaining attention to enhance robustness beyond training. However, existing TTS methods for VLAs…

Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…

Vision-Language-Action (VLA) models leverage powerful perceptual priors from web-scale Vision-Language Model (VLM) pre-training, yet they remain surprisingly brittle in practice, frequently failing at simple robotic tasks. To mitigate this,…

Activation steering is a method for controlling Large Language Model (LLM) behavior by intervening in its internal representations to increase the alignment with a specific target feature direction. However, standard interventions, such as…

Despite significant progress in alignment, large language models (LLMs) remain vulnerable to adversarial attacks that elicit harmful behaviors. Activation steering techniques offer a promising inference-time intervention approach, but…

In this paper, we propose GTA-VLA(Guide, Think, Act), an interactive Vision-Language-Action (VLA) framework that enables spatially steerable embodied reasoning by allowing users to guide robot policies with explicit visual cues. Existing…

Activation steering methods were shown to be effective in conditioning language model generation by additively intervening over models' intermediate representations. However, the evaluation of these techniques has so far been limited to…

Guiding unconditional diffusion models typically requires either retraining with conditional inputs or per-step gradient computations (e.g., classifier-based guidance), both of which incur substantial computational overhead. We present a…

Activation steering is a promising technique for controlling LLM behavior by adding semantically meaningful vectors directly into a model's hidden states during inference. It is often framed as a precise, interpretable, and potentially…

Current research on Vision-Language-Action (VLA) models predominantly focuses on enhancing generalization through established reasoning techniques. While effective, these improvements invariably increase computational complexity and…

Recent advancements in language models (LMs) have marked a shift toward the growing importance of post-training. Yet, post-training approaches such as supervised fine-tuning (SFT) do not guarantee the effective use of knowledge acquired…

Steering language models (LMs) by modifying internal activations is a popular approach for controlling text generation. Unsupervised dictionary learning methods, e.g., sparse autoencoders, can be scaled to produce many steering vectors, but…

Steering vectors have emerged as a lightweight and effective approach for aligning large language models (LLMs) at inference time, enabling modulation over model behaviors by shifting LLM representations towards a target behavior. However,…

Most existing vision-language-action (VLA) models for robotic manipulation lack progress awareness, typically relying on hand-crafted heuristics for task termination. This limitation is particularly severe in long-horizon tasks involving…

Steering has emerged as a practical approach to enable post-hoc guidance of LLMs towards enforcing a specific behavior. However, it remains largely underexplored for multimodal LLMs (MLLMs); furthermore, existing steering techniques, such…

Robotic manipulation in high-precision tasks is essential for numerous industrial and real-world applications where accuracy and speed are required. Yet current diffusion-based policy learning methods generally suffer from low computational…