11 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…
PhysBrain 1.0 Technical Report
Shijie Lian, Bin Yu, Xiaopeng Lin +10
Vision-language-action models have advanced rapidly, but robot trajectories alone provide limited coverage for learning broad physical understanding. PhysBrain 1.0 studies a comple…
Bridging Brain and Semantics: A Hierarchical Framework for Semantically Enhanced fMRI-to-Video Reconstruction
Yujie Wei, Chenglong Ma, Jianxiong Gao +6
Reconstructing dynamic visual experiences as videos from functional magnetic resonance imaging (fMRI) is pivotal for advancing the understanding of neural processes. However, curre…
Factorization-Error-Free Discrete Diffusion Language Model via Speculative Decoding
Xun Fang, Yunchen Li, Hang Yuan +1
Discrete diffusion language models improve generation efficiency through parallel token prediction, but standard prediction methods introduce factorization errors by approxim…
FrameSkip: Learning from Fewer but More Informative Frames in VLA Training
Bin Yu, Shijie Lian, Xiaopeng Lin +8
Vision-Language-Action (VLA) policies are commonly trained from dense robot demonstration trajectories, often collected through teleoperation, by sampling every recorded frame as i…
DanceCrafter: Fine-Grained Text-Driven Controllable Dance Generation via Choreographic Syntax
Hang Yuan, Xiaolin Hu, Yan Wan +8
Text-driven controllable dance generation remains under-explored, primarily due to the severe scarcity of high-quality datasets and the inherent difficulty of articulating complex…