6 citations · 7 across the 9 of their papers we have counts for
10 papers
G0.5: One Autoregressive Stream for Robot Reasoning and Action
Yicheng Liu, Zibin Dong, Baijun Ye +24
The prevailing recipe for Vision-Language-Action (VLA) models couples a pretrained VLM with a separately trained flow-matching action expert. This makes the VLM a context encoder r…
ActionCodec: What Makes for Good Action Tokenizers
Zibin Dong, Yicheng Liu, Shiduo Zhang +8
Vision-Language-Action (VLA) models leveraging the native autoregressive paradigm of Vision-Language Models (VLMs) have demonstrated superior instruction-following and training eff…
TTT-Parkour: Rapid Test-Time Training for Perceptive Robot Parkour
Shaoting Zhu, Baijun Ye, Jiaxuan Wang +5
Achieving highly dynamic parkour with humanoid robots on complex terrains unseen during the pre-training stage remains a challenge in robotics. Although general locomotion policies…
FASTer: Toward Efficient Autoregressive Vision Language Action Modeling via Neural Action Tokenization
Yicheng Liu, Shiduo Zhang, Zibin Dong +12
Autoregressive vision-language-action (VLA) models have recently demonstrated strong capabilities in robotic manipulation. However, their core process of action tokenization often…
GS-Occ3D: Scaling Vision-only Occupancy Reconstruction with Gaussian Splatting
Baijun Ye, Minghui Qin, Saining Zhang +7
Occupancy is crucial for autonomous driving, providing essential geometric priors for perception and planning. However, existing methods predominantly rely on LiDAR-based occupancy…
CRUISE: Cooperative Reconstruction and Editing in V2X Scenarios using Gaussian Splatting
Haoran Xu, Saining Zhang, Peishuo Li +15
Vehicle-to-everything (V2X) communication plays a crucial role in autonomous driving, enabling cooperation between vehicles and infrastructure. While simulation has significantly c…
VR-Robo: A Real-to-Sim-to-Real Framework for Visual Robot Navigation and Locomotion
Shaoting Zhu, Linzhan Mou, Derun Li +3
Recent success in legged robot locomotion is attributed to the integration of reinforcement learning and physical simulators. However, these policies often encounter challenges whe…
Drone-assisted Road Gaussian Splatting with Cross-view Uncertainty
Saining Zhang, Baijun Ye, Xiaoxue Chen +5
Robust and realistic rendering for large-scale road scenes is essential in autonomous driving simulation. Recently, 3D Gaussian Splatting (3D-GS) has made groundbreaking progress i…
Blending Distributed NeRFs with Tri-stage Robust Pose Optimization
Baijun Ye, Caiyun Liu, Xiaoyu Ye +6
Due to the limited model capacity, leveraging distributed Neural Radiance Fields (NeRFs) for modeling extensive urban environments has become a necessity. However, current distribu…
Spectrally Pruned Gaussian Fields with Neural Compensation
Runyi Yang, Zhenxin Zhu, Zhou Jiang +6
Recently, 3D Gaussian Splatting, as a novel 3D representation, has garnered attention for its fast rendering speed and high rendering quality. However, this comes with high memory…