5 papers · 1 filter
Improving Vision-Language-Action Model Fine-Tuning with Structured Stage and Keyframe Supervision
Yuan Xu, Yixiang Chen, Kai Wang +5
Vision-Language-Action (VLA) models have shown strong potential for generalizable robotic manipulation. During fine-tuning, however, action supervision applies equally across all t…
SpatialVAM:Spatial-Aware Multi-View Video Diffusion as a Data-Efficient Robot Policy
Peiyan Li, Yixiang Chen, Yuan Xu +13
Robotic manipulation requires understanding both the 3D spatial structure of the environment and its temporal evolution, yet most existing policies neglect one or both aspects. The…
EgoDemoGen: Egocentric Demonstration Generation for Viewpoint Generalization in Robotic Manipulation
Yuan Xu, Jiabing Yang, Xiaofeng Wang +16
Imitation learning based visuomotor policies have achieved strong performance in robotic manipulation, yet they often remain sensitive to egocentric viewpoint shifts. Unlike third-…
BridgeV2W: Bridging Video Generation Models to Embodied World Models via Embodiment Masks
Yixiang Chen, Peiyan Li, Jiabing Yang +8
Embodied world models have emerged as a promising paradigm in robotics, most of which leverage large-scale Internet videos or pretrained video generation models to enrich visual an…
EC-Flow: Enabling Versatile Robotic Manipulation from Action-Unlabeled Videos via Embodiment-Centric Flow
Yixiang Chen, Peiyan Li, Yan Huang +3
Current language-guided robotic manipulation systems often require low-level action-labeled datasets for imitation learning. While object-centric flow prediction methods mitigate t…