59 citations · 183 across the 41 of their papers we have counts for
10 papers · 1 filter
Wiring Matters: Injection Topology and Initialization of Affordance Heads in Vision-Language-Action Policies
Zijian An, Linhan Wang, Jiayan Wang +4
Dense affordance supervision is an appealing auxiliary signal for vision-language-action (VLA) policies, yet naively co-training an affordance head can severely damage instruction…
Project SCOUT: Interceptor Drone for Perimeter Defense
Azmain Yousuf, Siwei Cai, Knut Peterson +2
The rapid proliferation of unauthorized unmanned aerial vehicles (UAVs) has created a growing need for robust, jamming-resistant counter-UAV systems for perimeter defense. This pap…
GlanceWAM: Sparse Test-Time Imagination for World-Action Models
Linhan Wang, Zijian An, Mingyuan Zhang +8
Video generative models provide rich physical priors for robot learning, yet existing world-action models (WAMs) face a fundamental trade-off: synchronous video generation at contr…
Latent World Models with Monotone Planning Costs for Image-Goal Navigation
Amirhosein Chahe, Siwei Cai, Lifeng Zhou
Image-goal navigation with latent world models requires not only accurate future prediction, but also a planning cost that reliably ranks candidate action sequences. We define the…
TransGraspNet: Physically and Geometrically Consistent Manipulation of Transparent Labware
Hailing Hu, Mingyi Zhu, Yiquan An +3
Manipulating transparent laboratory glassware that contains liquid is inherently safety-critical: even small geometric errors can cause unstable grasps and hazardous spillage. Alth…
What's Hidden Matters: Identifying Planning-Critical Occluded Agents using Vision-Language Models
Amirhosein Chahe, Tyler Naes, Jovin D'sa +4
Autonomous vehicles must safely navigate complex environments where planning-critical agents may be hidden from view. Current approaches often treat all occlusions with uniform con…
Threading Optimization for Vision-Language-Action Model Inference in Low-Cost Smart Agricultural Manipulation
Keith Truongcao, Christopher Nhu, Zijian An +3
Vision-Language Action (VLA) models continue to face challenges such as slow inference speed and difficulty performing fine-grained motion adjustments, limiting their widespread ad…
ROG-Grasp: Root-Oriented Geometry for Robotic Grasping and Placement
Zijian An, Augustus Sroka, Ran Yang +8
Orientation-aware manipulation is essential in post-harvest agricultural processing, where produce must be grasped and placed in consistent configurations. This paper presents ROG-…
VILAS: A VLA-Integrated Low-cost Architecture with Soft Grasping for Robotic Manipulation
Zijian An, Hadi Khezam, Bill Cai +5
We present VILAS, a fully low-cost, modular robotic manipulation platform designed to support end-to-end vision-language-action (VLA) policy learning and deployment on accessible h…
AGT-CV: An Aerial-Ground Team Cross-View Dataset for Heterogeneous Robot Teams in Unstructured Environments
Siwei Cai, Knut Peterson, Quan Tran +7
Heterogeneous air-ground robot teams combine complementary sensing modalities, mobility characteristics, and spatial viewpoints that can significantly enhance perception in complex…