7 papers
Code-Poisoning Property Inference Attacks
Xukun Luan, Yuhui Gong, Gang Zhang +4
The flourishing code hosting platforms and coding agents enable even beginners with private data to build tailored Machine Learning (ML) models using available code quickly. The tr…
VLALeaks: Membership Inference Attacks against Vision-Language-Action Models
Xukun Luan, Jinyan Liu, Xuesong Li +4
Vision-Language-Action (VLA) models enable end-to-end robot control and have garnered widespread attention. However, the memorization of training data inherent to VLA, coupled with…
GeoHAT: Geometry-Adaptive Hybrid Action Transformer for Mobile Manipulation
Xiangyu Zhu, Renjun Wu, Luzhou Ge +2
Whole-body mobile manipulation requires coordinating mobile base and manipulator under shifting viewpoints, posing challenges in geometric perception and action generation. Current…
DGSG-Mind: Dynamic 3D Gaussian Scene Graphs for Long-Term Scene Understanding and Grounding
Luzhou Ge, Xiangyu Zhu, Jinyan Liu +1
Integrating open-vocabulary semantic information into dynamic 3D scene representations is essential for long-term embodied scene understanding. However, existing methods often suff…
ReMAP-DP: Reprojected Multi-view Aligned PointMaps for Diffusion Policy
Xinzhang Yang, Renjun Wu, Jinyan Liu +1
Generalist robot policies built upon 2D visual representations excel at semantic reasoning but inherently lack the explicit 3D spatial awareness required for high-precision tasks.…
A Kung Fu Athlete Bot That Can Do It All Day: Highly Dynamic, Balance-Challenging Motion Dataset and Autonomous Fall-Resilient Tracking
Zhongxiang Lei, Lulu Cao, Xuyang Wang +3
Current humanoid motion tracking systems can execute routine and moderately dynamic behaviors, yet significant gaps remain near hardware performance limits and algorithmic robustne…