{"id":"https://openalex.org/W7156637228","doi":"https://doi.org/10.48550/arxiv.2604.23272","title":"Modular Sensory Stream for Integrating Physical Feedback in Vision-Language-Action Models","display_name":"Modular Sensory Stream for Integrating Physical Feedback in Vision-Language-Action Models","publication_year":2026,"publication_date":"2026-04-25","ids":{"openalex":"https://openalex.org/W7156637228","doi":"https://doi.org/10.48550/arxiv.2604.23272"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.23272","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.23272","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.23272","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134768234","display_name":"Jimin Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lee, Jimin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134771583","display_name":"Huiwon Jang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jang, Huiwon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108237940","display_name":"M. Koo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Koo, Myungkyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134796330","display_name":"Jungwoo Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Jungwoo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5134764224","display_name":"Jinwoo Shin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shin, Jinwoo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7858999967575073,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.7858999967575073,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.0471000000834465,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.027799999341368675,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7479000091552734},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.645799994468689},{"id":"https://openalex.org/keywords/sensory-system","display_name":"Sensory system","score":0.6266999840736389},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.48019999265670776},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4666000008583069},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.37290000915527344},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.3571000099182129}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7479000091552734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.704200029373169},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.645799994468689},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.6266999840736389},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.48019999265670776},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4666000008583069},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4530999958515167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.396699994802475},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.37290000915527344},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3571000099182129},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3529999852180481},{"id":"https://openalex.org/C26486553","wikidata":"https://www.wikidata.org/wiki/Q371870","display_name":"Stimulus modality","level":3,"score":0.3483999967575073},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.3165000081062317},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.3025999963283539},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.29760000109672546},{"id":"https://openalex.org/C89198739","wikidata":"https://www.wikidata.org/wiki/Q3079880","display_name":"Data stream mining","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C3020716817","wikidata":"https://www.wikidata.org/wiki/Q4132092","display_name":"Visual feedback","level":2,"score":0.2858000099658966}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.23272","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.23272","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.23272","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.23272","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Humans":[0],"understand":[1],"and":[2,48,152],"interact":[3],"with":[4],"the":[5,46,88,114],"real":[6],"world":[7],"by":[8,18],"relying":[9],"on":[10,36],"diverse":[11,147],"physical":[12,25,41,85,132,148],"feedback":[13],"beyond":[14],"visual":[15],"perception.":[16],"Motivated":[17],"this,":[19],"recent":[20],"approaches":[21],"attempt":[22],"to":[23,44,68,118,145,157],"incorporate":[24,125],"sensory":[26,62,71],"signals":[27,72,86,149,156],"into":[28,87],"Vision-Language-Action":[29],"models":[30],"(VLAs).":[31],"However,":[32],"they":[33],"typically":[34],"focus":[35],"a":[37,60,104],"single":[38],"type":[39],"of":[40,51,99],"signal,":[42],"failing":[43],"capture":[45,120],"heterogeneous":[47,84],"complementary":[49],"nature":[50],"real-world":[52,136],"interactions.":[53],"In":[54],"this":[55],"paper,":[56],"we":[57,77,102,124,138],"propose":[58],"MoSS,":[59],"modular":[61],"stream":[63,90],"framework":[64],"that":[65,82,108,129,140],"adapts":[66],"VLAs":[67,144],"leverage":[69,146],"multiple":[70,155],"for":[73],"action":[74,89],"prediction.":[75],"Specifically,":[76],"introduce":[78],"decoupled":[79],"modality":[80],"streams":[81],"integrate":[83],"via":[91],"joint":[92],"cross-modal":[93],"self-attention.":[94],"To":[95],"enable":[96],"stable":[97],"incorporation":[98],"new":[100],"modalities,":[101],"adopt":[103],"two-stage":[105],"training":[106],"scheme":[107],"freezes":[109],"pretrained":[110],"VLA":[111],"parameters":[112],"in":[113],"early":[115],"stage.":[116],"Furthermore,":[117],"better":[119],"contact":[121],"interaction":[122],"dynamics,":[123],"an":[126],"auxiliary":[127],"task":[128],"predicts":[130],"future":[131],"signals.":[133],"Through":[134],"extensive":[135],"experiments,":[137],"demonstrate":[139],"MoSS":[141],"successfully":[142],"augments":[143],"(i.e.,":[150],"tactile":[151],"torque),":[153],"integrating":[154],"achieve":[158],"synergistic":[159],"performance":[160],"gains.":[161]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-29T00:00:00"}
