27 papers
TacGen: Touch Is a Necessary Dimension of Physical-World Representation -- Addressing Tactile Data Scarcity with Scalable Vision-to-Touch Alignment and Generation
Wanghao Ye, Aarosh Das, Sihan Chen +19
Touch resolves the physical-property ambiguity left by vision: exploratory contact recovers shape, texture, compliance, and material, and visuo-haptic object representations conver…
SPARC: Scalable Path-Specific Counterfactual Fairness via Causal Conditional Independence
Bowei Tian, Yexiao He, Ziyao Wang +3
Deep learning models exhibit fairness concerns when predictions are inadvertently influenced by sensitive attributes. However, existing attempts to make Path-Specific Counterfactua…
Drop-Then-Recovery: How Redundant Are Vision-Language-Action Models?
Guoheng Sun, Kaixi Feng, Shwai He +8
Vision-Language-Action (VLA) models enable instruction-driven robotic manipulation, but they inherit oversized language backbones from pretrained VLMs whose capacity far exceeds wh…
Mirage: a Clean-Label Backdoor against LiDAR 3D Object Detection
Ziba Parsons, Ang Li
Deep neural network-based LiDAR 3D object detection serves as a critical perception component in safety-critical autonomous systems. However, recent studies have revealed its vulne…
Spectral Principal Paths: A Spectral Perspective on Linear Representation Formation in LLMs
Bowei Tian, Xuntao Lyu, Meng Liu +2
High-level representations have become a central focus in enhancing AI transparency and control, shifting attention from individual neurons or circuits to structured semantic direc…
Vision-Language-Action in Robotics: A Survey of Datasets, Benchmarks, and Data Engines
Ziyao Wang, Bingying Wang, Hanrong Zhang +7
Despite remarkable progress in Vision--Language--Action (VLA) models, a central bottleneck remains underexamined: the data infrastructure that underlies embodied learning. In this…