18 papers
Lift3D-VLA: Lifting VLA Models to 3D Geometry and Dynamics-Aware Manipulation
Jiaming Liu, Qingpo Wuwu, Nuowei Han +8
Recently, Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse tasks. However, effective robotic manipulation in physical environments fundame…
LaST-HD: Learning Latent Physical Reasoning from Scalable Human Data for Robot Manipulation
Jiaming Liu, Yinxi Wang, Chenyang Gu +15
Human-hand demonstrations provide a direct and scalable source of physical interaction data for robot learning. While manual retargeting is indispensable for establishing kinematic…
LaST: Latent Spatio-Temporal Chain-of-Thought for Robotic Vision-Language-Action Model
Zhuoyang Liu, Jiaming Liu, Hao Chen +11
Vision-Language-Action (VLA) models have recently shown strong generalization, with some approaches seeking to explicitly generate linguistic reasoning traces or predict future obs…
TwinRL: Digital Twin-Driven Reinforcement Learning for Real-World Robotic Manipulation
Qinwen Xu, Jiaming Liu, Rui Zhou +11
Despite strong generalization capabilities, Vision-Language-Action (VLA) models remain constrained by the high cost of expert demonstrations and limited real-world interaction. Whi…
LaST-R1: Reinforcing Robotic Manipulation via Adaptive Physical Latent Reasoning
Hao Chen, Jiaming Liu, Zhonghao Yan +10
Robotic foundation models require reasoning over complex visual scenes to execute adaptive actions in dynamic environments. While recent studies on latent-reasoning Vision-Language…
DSPO: Stable and Efficient Policy Optimization for Agentic Search and Reasoning
Chenyang Gu, Yewen Pu, Bruce Yang +2
Enhancing LLMs with the ability to actively search external knowledge is crucial for complex and real-world tasks. Current approaches either rely on prompting to elicit the model's…