18 papers
IntentVLA: Short-Horizon Intent Modeling for Aliased Robot Manipulation
Shijie Lian, Bin Yu, Xiaopeng Lin +8
Robot imitation data are often multimodal: similar visual-language observations may be followed by different action chunks because human demonstrators act with different short-hori…
SIEVE: Structure-Aware Data Selection for Imitation Learning with VLA Models
Changti Wu, Bin Yu, Zhaolong Shen +6
Vision-Language-Action (VLA) models are typically trained by imitation learning on large-scale robot demonstration datasets, but more data does not necessarily yield better policie…
Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments
Xiaopeng Lin, Ruoqi Yang, Shijie Lian +14
Vision-language-action (VLA) models across robot embodiments require high-quality observation--action supervision to learn deployable action distributions, yet scaling such robot d…
TUGS: Physics-based Compact Representation of Underwater Scenes by Tensorized Gaussian
Shijie Lian, Ziyi Zhang, Hua Li +4
Underwater 3D scene reconstruction is crucial for multimedia applications in adverse environments, such as underwater robotic perception and navigation. However, the complexity of…
RoboSemanticBench: Diagnosing Semantic Grounding in Action Prediction for VLA Models
Bin Yu, Yao Zhang, Haishan Liu +9
Vision-language-action (VLA) models are built on the premise that semantic understanding from pretrained language or vision-language backbones should guide robot action prediction.…
LangForce: Bayesian Decomposition of Vision Language Action Models via Latent Action Queries
Shijie Lian, Bin Yu, Xiaopeng Lin +6
Vision-Language-Action (VLA) models have shown promise in robot manipulation but often struggle to generalize to new instructions or complex multi-task scenarios. We identify a cri…