13 citations · 22 across the 46 of their papers we have counts for
49 papers
HM3D-M3: A Benchmark for Multi-Agent, Multi-Modal, Multi-Object Goal Navigation
Hongyu Ding, Kanyu Xu, Mingjia Chen +5
Rapid progress in AI agents and robotics makes it a matter of the near future that humans are served by a team of robots. Such a team will receive several goals at once, each speci…
AD-WM: Action-Discriminative World Models for Counterfactual Model Predictive Control
Jiabin Qiu, Zixuan Chen, Hongye Cao +3
Latent world models are typically trained to predict factual transitions, whereas model predictive control (MPC) must compare alternative actions from the same state. A model can t…
Learning from Hard Prompts: Difficulty-aware Advantage Amplification in Dynamic Sampling
Siyuan Gan, Yuhan Li, Xiran Wang +6
Decoupled Clip and Dynamic Sampling Policy Optimization (DAPO) is a prominent variant of Group Relative Policy Optimization (GRPO). DAPO introduces several improvements over GRPO.…
When Teacher Guidance Misleads: Reward-Aligned On-Policy Distillation
Siyuan Gan, Yuhan Li, Xiran Wang +5
On-policy distillation (OPD) has recently emerged as a popular post-training paradigm for large language models (LLMs), providing an efficient way to transfer the knowledge and cap…
Wh0: Generative World Models as Scalable Sources of Egocentric Human Hand Manipulation Data
Yangtao Chen, Zixuan Chen, Peiyang Wang +4
Scaling dexterous manipulation requires generalization across objects, scenes, and tasks, yet existing data sources face a trade-off between scale and scene/embodiment alignment: t…
Tool-Aware Optimization with Entropy Guidance for Efficient Agentic Reinforcement Learning
Hongye Cao, Nuo Yan, Haoyuan Deng +5
Agentic reinforcement learning (RL) equips large language models (LLMs) with tool-use capabilities that substantially improve reasoning on complex tasks. However, integrating exter…
Uni-LaViRA: Language-Vision-Robot Actions Translation for Unified Embodied Navigation
Hongyu Ding, Sizhuo Zhang, Ziming Xu +13
Embodied navigation requires an agent to map language and visual observations to a stream of spatial actions that drive a real robot through environments it has never seen. The dom…
FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation
Dian Shao, Zhengzheng Xu, Peiyang Wang +4
UAV vision-language navigation (VLN) requires an agent to navigate complex 3D environments from an egocentric perspective while following ambiguous multi-step instructions over lon…
V-Dreamer: Automating Robotic Simulation and Trajectory Synthesis via Video Generation Priors
Songjia He, Zixuan Chen, Hongyu Ding +5
Training generalist robots demands large-scale, diverse manipulation data, yet real-world collection is prohibitively expensive, and existing simulators are often constrained by fi…
ST-VLA: Enabling 4D-Aware Spatiotemporal Understanding for General Robot Manipulation
You Wu, Zixuan Chen, Cunxu Ou +9
Robotic manipulation in open-world environments requires reasoning across semantics, geometry, and long-horizon action dynamics. Existing hierarchical Vision-Language-Action (VLA)…
AdaClearGrasp: Learning Adaptive Clearing for Zero-Shot Robust Dexterous Grasping in Densely Cluttered Environments
Zixuan Chen, Wenquan Zhang, Jing Fang +7
In densely cluttered environments, physical interference, visual occlusions, and unstable contacts often cause direct dexterous grasping to fail, while aggressive singulation strat…
RoTri-Diff: A Spatial Robot-Object Triadic Interaction-Guided Diffusion Model for Bimanual Manipulation
Zixuan Chen, Nga Teng Chan, Yiwen Hou +8
Bimanual manipulation is a fundamental robotic skill that requires continuous and precise coordination between two arms. While imitation learning (IL) is the dominant paradigm for…
MoMaStage: Skill-State Graph Guided Planning and Closed-Loop Execution for Long-Horizon Indoor Mobile Manipulation
Chenxu Li, Zixuan Chen, Yetao Li +5
Long-horizon indoor mobile manipulation (MoMa) requires robots to execute extended navigation-manipulation sequences whose feasibility depends on state changes induced by preceding…
INHerit-SG: Incremental Hierarchical Semantic Scene Graphs for Complex Embodied Retrieval
YukTungSamuel Fang, Zhikang Shi, Jiabin Qiu +5
Object retrieval in 3D scenes remains difficult when queries combine hierarchical context, attributes, negation, and chained spatial relations. Existing semantic maps, scene graphs…
Efficient Reinforcement Learning with Semantic and Token Entropy for LLM Reasoning
Hongye Cao, Zhixin Bai, Ziyue Peng +5
Reinforcement learning with verifiable rewards (RLVR) has demonstrated superior performance in enhancing the reasoning capability of large language models (LLMs). However, this acc…
Thinking-Based Non-Thinking: Solving the Reward Hacking Problem in Training Hybrid Reasoning Models via Reinforcement Learning
Siyuan Gan, Jiaheng Liu, Boyan Wang +8
Large reasoning models (LRMs) have attracted much attention due to their exceptional performance. However, their performance mainly stems from thinking, a long Chain of Thought (Co…
ManiLong-Shot: Interaction-Aware One-Shot Imitation Learning for Long-Horizon Manipulation
Zixuan Chen, Chongkai Gao, Lin Shao +3
One-shot imitation learning (OSIL) offers a promising way to teach robots new skills without large-scale data collection. However, current OSIL methods are primarily limited to sho…
Multi-Agent Reinforcement Learning with Communication-Constrained Priors
Guang Yang, Tianpei Yang, Jingwen Qiao +4
Communication is one of the effective means to improve the learning of cooperative policy in multi-agent systems. However, in most real-world scenarios, lossy communication is a pr…
VITA-VLA: Efficiently Teaching Vision-Language Models to Act via Action Expert Distillation
Shaoqi Dong, Chaoyou Fu, Haihan Gao +12
Vision-Language Action (VLA) models significantly advance robotic manipulation by leveraging the strong perception capabilities of pretrained vision-language models (VLMs). By inte…
SEA: Semantic Map Prediction for Active Exploration of Uncertain Areas
Hongyu Ding, Xinyue Liang, Yudong Fang +7
In this paper, we propose SEA, a novel approach for active robot exploration through semantic map prediction and a reinforcement learning-based hierarchical exploration policy. Unl…
LaViRA: Language-Vision-Robot Actions Translation for Zero-Shot Vision Language Navigation in Continuous Environments
Hongyu Ding, Ziming Xu, Yudong Fang +6
LaViRA: Zero-shot Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires an agent to navigate unseen environments based on natural language instructions withou…
Enhancing Trust-Region Bayesian Optimization via Newton Methods
Quanlin Chen, Yiyu Chen, Jing Huo +3
Bayesian Optimization (BO) has been widely applied to optimize expensive black-box functions while retaining sample efficiency. However, scaling BO to high-dimensional spaces remai…
Reconsidering Overthinking: Penalizing Internal and External Redundancy in CoT Reasoning
Taihang Zhen, Jialiang Hong, Kai Chen +12
Large reasoning models (LRMs) often exhibit overthinking, producing verbose Chain-of-Thought (CoT) traces that increase inference cost and obscure the underlying reasoning process.…
MedSentry: Understanding and Mitigating Safety Risks in Medical LLM Multi-Agent Systems
Kai Chen, Taihang Zhen, Hewei Wang +7
As large language models (LLMs) are increasingly deployed in healthcare, ensuring their safety, particularly within collaborative multi-agent configurations, is paramount. In this…