Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs

Vision-Language-Action (VLA) models show strong potential for general-purpose robotic manipulation, yet their closed-loop reliability often degrades under local deployment conditions. Existing evaluations typically treat test episodes as independent zero-shot trials. However, real robots often operate repeatedly in the same or slowly changing environments, where successful executions provide environment-verified evidence of reliable behavior patterns. We study this persistent-deployment setting, asking whether a partially competent frozen VLA can improve its reliability by reusing its successful test-time experience. We propose an online success-memory guided test-time adaptation framework for generative VLAs. During deployment, the robot stores progress-calibrated successful observation-action segments in a long-term memory. At inference, it retrieves state-relevant action chunks, filters inconsistent candidates via trajectory-level consistency, and aggregates them into an elite action prior. To incorporate this prior into action generation, we introduce confidence-adaptive prior guidance, which injects the elite prior into an intermediate state of the flow-matching action sampler and adjusts the guidance strength based on retrieval confidence. This design allows the frozen VLA to exploit environment-specific successful experience while preserving observation-conditioned generative refinement. This retrieve-then-steer mechanism enables lightweight, non-parametric test-time adaptation without requiring parameter updates. Simulation and real-world experiments show improved task success and closed-loop stability, especially in long-horizon and multi-stage tasks.

Continuous Expert Assembly: Instance-Conditioned Low-Rank Residuals for All-in-One Image Restoration

Real-world image degradation is often unknown, spatially non-uniform, and compositional, requiring all-in-one restoration models to adapt a single set of weights to diverse local corruption patterns without test-time degradation labels. Existing methods typically modulate a shared backbone with global prompts or degradation descriptors, or route features through predefined expert pools. However, compact global conditioning can bottleneck localized degradation evidence, while static expert routing may produce homogeneous updates or rely on unstable sparse assignments. We propose \textbf{Continuous Expert Assembly} (CEA), a token-wise dynamic parameterization framework for all-in-one image restoration. CEA employs a lightweight \textbf{Cross-Attention Hyper-Adapter} to probe intermediate spatial features and synthesize instance-conditioned low-rank routing bases and residual directions. Each spatial token then assembles its own residual update via dense signed dot-product affinities over the generated rank-wise components, avoiding external prompts, static expert banks, and discrete Top- selection. The resulting assembly rule also admits a linear-attention perspective, making its dense token-wise routing behavior transparent. Experiments on AIO-3, AIO-5, and CDD-11 show that CEA improves average restoration quality over strong prompt-, descriptor-, and expert-based baselines, with the clearest gains on spatially varying and compositional degradations, while maintaining favorable parameter, FLOP, and runtime efficiency.

Learning Like Humans: Analogical Concept Learning for Generalized Category Discovery

Generalized Category Discovery (GCD) seeks to uncover novel categories in unlabeled data while preserving recognition of known categories, yet prevailing visual-only pipelines and the loose coupling between supervised learning and discovery often yield brittle boundaries on fine-grained, look-alike categories. We introduce the Analogical Textual Concept Generator (ATCG), a plug-and-play module that analogizes from labeled knowledge to new observations, forming textual concepts for unlabeled samples. Fusing these analogical textual concepts with visual features turns discovery into a visual-textual reasoning process, transferring prior knowledge to novel data and sharpening category separation. ATCG attaches to both parametric and clustering style GCD pipelines and requires no changes to their overall design. Across six benchmarks, ATCG consistently improves overall, known-class, and novel-class performance, with the largest gains on fine-grained data. Our code is available at: https://github.com/zhou-9527/AnaLogical-GCD.

Trajectory-Diversity-Driven Robust Vision-and-Language Navigation

Vision-and-Language Navigation (VLN) requires agents to navigate photo-realistic environments following natural language instructions. Current methods predominantly rely on imitation learning, which suffers from limited generalization and poor robustness to execution perturbations. We present NavGRPO, a reinforcement learning framework that learns goal-directed navigation policies through Group Relative Policy Optimization. By exploring diverse trajectories and optimizing via within-group performance comparisons, our method enables agents to distinguish effective strategies beyond expert paths without requiring additional value networks. Built on ScaleVLN, NavGRPO achieves superior robustness on R2R and REVERIE benchmarks with +3.0% and +1.71% SPL improvements in unseen environments. Under extreme early-stage perturbations, we demonstrate +14.89% SPL gain over the baseline, confirming that goal-directed RL training builds substantially more robust navigation policies. Code and models will be released.

Neural Implicit Action Fields: From Discrete Waypoints to Continuous Functions for Vision-Language-Action Models

Despite the rapid progress of Vision-Language-Action (VLA) models, the prevailing paradigm of predicting discrete waypoints remains fundamentally misaligned with the intrinsic continuity of physical motion. This discretization imposes rigid sampling rates, lacks high-order differentiability, and introduces quantization artifacts that hinder precise, compliant interaction. We propose Neural Implicit Action Fields (NIAF), a paradigm shift that reformulates action prediction from discrete waypoints to continuous action function regression. By utilizing an MLLM as a hierarchical spectral modulator over a learnable motion prior, NIAF synthesizes infinite-resolution trajectories as continuous-time manifolds. This formulation enables analytical differentiability, allowing for explicit supervision of velocity, acceleration, and jerk to ensure mathematical consistency and physical plausibility. Our approach achieves state-of-the-art results on CALVIN and LIBERO benchmarks across diverse backbones. Furthermore, real-world experiments demonstrate that NIAF enables stable impedance control, bridging the gap between high-level semantic understanding and low-level dynamic execution.

ReMoT: Reinforcement Learning with Motion Contrast Triplets

We present ReMoT, a unified training paradigm to systematically address the fundamental shortcomings of VLMs in spatio-temporal consistency -- a critical failure point in navigation, robotics, and autonomous driving. ReMoT integrates two core components: (1) A rule-based automatic framework that generates ReMoT-16K, a large-scale (16.5K triplets) motion-contrast dataset derived from video meta-annotations, surpassing costly manual or model-based generation. (2) Group Relative Policy Optimization, which we empirically validate yields optimal performance and data efficiency for learning this contrastive reasoning, far exceeding standard Supervised Fine-Tuning. We also construct the first benchmark for fine-grained motion contrast triplets to measure a VLM's discrimination of subtle motion attributes (e.g., opposing directions). The resulting model achieves state-of-the-art performance on our new benchmark and multiple standard VLM benchmarks, culminating in a remarkable 25.1% performance leap on spatio-temporal reasoning tasks.

GFPL: Generative Federated Prototype Learning for Resource-Constrained and Data-Imbalanced Vision Task

Federated learning (FL) facilitates the secure utilization of decentralized images, advancing applications in medical image recognition and autonomous driving. However, conventional FL faces two critical challenges in real-world deployment: ineffective knowledge fusion caused by model updates biased toward majority-class features, and prohibitive communication overhead due to frequent transmissions of high-dimensional model parameters. Inspired by the human brain's efficiency in knowledge integration, we propose a novel Generative Federated Prototype Learning (GFPL) framework to address these issues. Within this framework, a prototype generation method based on Gaussian Mixture Model (GMM) captures the statistical information of class-wise features, while a prototype aggregation strategy using Bhattacharyya distance effectively fuses semantically similar knowledge across clients. In addition, these fused prototypes are leveraged to generate pseudo-features, thereby mitigating feature distribution imbalance across clients. To further enhance feature alignment during local training, we devise a dual-classifier architecture, optimized via a hybrid loss combining Dot Regression and Cross-Entropy. Extensive experiments on benchmarks show that GFPL improves model accuracy by 3.6% under imbalanced data settings while maintaining low communication cost.

GOAL: Geometrically Optimal Alignment for Continual Generalized Category Discovery

Continual Generalized Category Discovery (C-GCD) requires identifying novel classes from unlabeled data while retaining knowledge of known classes over time. Existing methods typically update classifier weights dynamically, resulting in forgetting and inconsistent feature alignment. We propose GOAL, a unified framework that introduces a fixed Equiangular Tight Frame (ETF) classifier to impose a consistent geometric structure throughout learning. GOAL conducts supervised alignment for labeled samples and confidence-guided alignment for novel samples, enabling stable integration of new classes without disrupting old ones. Experiments on four benchmarks show that GOAL outperforms the prior method Happy, reducing forgetting by 16.1% and boosting novel class discovery by 3.2%, establishing a strong solution for long-horizon continual discovery.

Is Parameter Isolation Better for Prompt-Based Continual Learning?

Prompt-based continual learning methods effectively mitigate catastrophic forgetting. However, most existing methods assign a fixed set of prompts to each task, completely isolating knowledge across tasks and resulting in suboptimal parameter utilization. To address this, we consider the practical needs of continual learning and propose a prompt-sharing framework. This framework constructs a global prompt pool and introduces a task-aware gated routing mechanism that sparsely activates a subset of prompts to achieve dynamic decoupling and collaborative optimization of task-specific feature representations. Furthermore, we introduce a history-aware modulator that leverages cumulative prompt activation statistics to protect frequently used prompts from excessive updates, thereby mitigating inefficient parameter usage and knowledge forgetting. Extensive analysis and empirical results demonstrate that our approach consistently outperforms existing static allocation strategies in effectiveness and efficiency.

IOTA: Corrective Knowledge-Guided Prompt Learning via Black-White Box Framework

Recently, adapting pre-trained models to downstream tasks has attracted increasing interest. Previous Parameter-Efficient-Tuning (PET) methods regard the pre-trained model as an opaque Black Box model, relying purely on data-driven optimization and underutilizing their inherent prior knowledge. This oversight limits the models' potential for effective downstream task adaptation. To address these issues, we propose a novel black-whIte bOx prompT leArning framework (IOTA), which integrates a data-driven Black Box module with a knowledge-driven White Box module for downstream task adaptation. Specifically, the White Box module derives corrective knowledge by contrasting the wrong predictions with the right cognition. This knowledge is verbalized into interpretable human prompts and leveraged through a corrective knowledge-guided prompt selection strategy to guide the Black Box module toward more accurate predictions. By jointly leveraging knowledge- and data-driven learning signals, IOTA achieves effective downstream task adaptation. Experimental results on 12 image classification benchmarks under few-shot and easy-to-hard adaptation settings demonstrate the effectiveness of corrective knowledge and the superiority of our method over state-of-the-art methods.