5 papers · 1 filter
DriftingVLA: Native One-Step Vision-Language-Action Generation via Per-Dimension Temporal Drifting
Yuxuan Gao, Shiqi Zhang, Yedong Shen +6
Conventional flow-based vision-language-action (VLA) models support expressive continuous action generation but rely on multi-step refinement to produce each action chunk, increasi…
CAC-VLA: Context-Gated Action Conditioning for Vision-Language-Action Models
Yifu Xiong, Wenhao Yu, Jiaxuan Lin +5
Vision-Language-Action (VLA) models have become a promising paradigm for generalist robot manipulation, where visual-language representations are used to condition continuous actio…
DynaHMRC: Decentralized Heterogeneous Multi-Robot Collaboration for Dynamic Tasks with Large Language Models
Wenhao Yu, Yu'ang Xie, Yifan Duan +5
Large language models (LLMs) provide robots with richer task understanding and adaptability, making them promising for coordinating heterogeneous multi-robot systems in long-horizo…
GA-GS: Generation-Assisted Gaussian Splatting for Static Scene Reconstruction
Yedong Shen, Shiqi Zhang, Sha Zhang +6
Reconstructing static 3D scene from monocular video with dynamic objects is important for numerous applications such as virtual reality and autonomous driving. Current approaches t…
Drift-Based Policy Optimization: Native One-Step Policy Learning for Online Robot Control
Yuxuan Gao, Yedong Shen, Shiqi Zhang +6
Diffusion policies effectively model multimodal action distributions for robotic manipulation, but their iterative denoising requires tens to hundreds of network function evaluatio…