Xingyu He

Senyu Fei, Siyin Wang, Junhao Shi et al.

Visual-Language-Action (VLA) models report impressive success rates on robotic manipulation benchmarks, yet these results may mask fundamental weaknesses in robustness. We perform a systematic vulnerability analysis by introducing controlled perturbations across seven dimensions: objects layout, camera viewpoints, robot initial states, language instructions, light conditions, background textures and sensor noise. We comprehensively analyzed multiple state-of-the-art models and revealed consistent brittleness beneath apparent competence. Our analysis exposes critical weaknesses: models exhibit extreme sensitivity to perturbation factors, including camera viewpoints and robot initial states, with performance dropping from 95% to below 30% under modest perturbations. Surprisingly, models are largely insensitive to language variations, with further experiments revealing that models tend to ignore language instructions completely. Our findings challenge the assumption that high benchmark scores equate to true competency and highlight the need for evaluation practices that assess reliability under realistic variation.

Hejia Qiu, Chao Li, Ying Weng et al.

Tensor-power (TP) recurrent model is a family of non-linear dynamical systems, of which the recurrence relation consists of a p-fold (a.k.a., degree-p) tensor product. Despite such the model frequently appears in the advanced recurrent neural networks (RNNs), to this date there is limited study on its memory property, a critical characteristic in sequence tasks. In this work, we conduct a thorough investigation of the memory mechanism of TP recurrent models. Theoretically, we prove that a large degree p is an essential condition to achieve the long memory effect, yet it would lead to unstable dynamical behaviors. Empirically, we tackle this issue by extending the degree p from discrete to a differentiable domain, such that it is efficiently learnable from a variety of datasets. Taken together, the new model is expected to benefit from the long memory effect in a stable manner. We experimentally show that the proposed model achieves competitive performance compared to various advanced RNNs in both the single-cell and seq2seq architectures.