16 papers
Choose What to Observe: Task-Aware Semantic-Geometric Representations for Visuomotor Policy
Haoran Ding, Liang Ma, Yaxun Yang +7
Visuomotor policies learned from demonstrations often overfit to nuisance visual factors in raw RGB observations, resulting in brittle behavior under appearance shifts such as back…
ManipArena: Comprehensive Real-world Evaluation of Reasoning-Oriented Generalist Robot Manipulation
Yu Sun, Meng Cao, Yang Ping +24
Vision-Language-Action (VLA) models and world-action models have emerged as central paradigms for general-purpose robotic intelligence, yet their empirical progress remains constra…
SeePhys Pro: Diagnosing Modality Transfer and Blind-Training Effects in Multimodal RLVR for Physics Reasoning
Kun Xiang, Terry Jingchen Zhang, Zirong Liu +15
We introduce SeePhys Pro, a fine-grained modality transfer benchmark that studies whether models preserve the same reasoning capability when critical information is progressively t…
RePO-VLA: Recovery-Driven Policy Optimization for Vision-Language-Action Models
Weijia Liufu, Xiaoyu Guo, Ruiyi Chen +16
Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while…
A1: A Fully Transparent Open-Source, Adaptive and Efficient Truncated Vision-Language-Action Model
Kaidong Zhang, Jian Zhang, Rongtao Xu +20
Vision-Language-Action (VLA) models have emerged as a powerful paradigm for open-world robot manipulation, but their practical deployment is often constrained by cost: billion-scal…
Flow Motion Policy: Manipulator Motion Planning with Flow Matching Models
Davood Soleymanzadeh, Xiao Liang, Minghui Zheng
Open-loop end-to-end neural motion planners have recently been proposed to improve motion planning for robotic manipulators. These methods enable planning directly from sensor obse…