5 citations · 7 across the 11 of their papers we have counts for
13 papers
FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation
Ruicheng Li, Qixiu Li, Ruichun Ma +8
Vision-language-action (VLA) models have achieved impressive generalization in robotic manipulation, and recent memory-augmented VLAs have relaxed the Markovian assumption by condi…
MuseVLA: An Adaptive Multimodal Sensing Vision-Language-Action Model for Robotic Manipulation
Xingyuming Liu, Ruichun Ma, Heyu Guo +7
Humans naturally leverage diverse sensing modalities to interact with the physical world, while most Vision-Language-Action (VLA) models for robotics rely solely on RGB observation…
Memory Grafting: Scaling Language Model Pre-training via Offline Conditional Memory
Runxi Cheng, Yuchen Guan, Yongxian Wei +7
Scaling conditional memory offers a promising way to increase language-model capacity, but existing methods such as Engram learn large memory tables from scratch during pre-trainin…
From Human Videos to Robot Manipulation: A Survey on Scalable Vision-Language-Action Learning with Human-Centric Data
Zhiyuan Feng, Qixiu Li, Huizhi Liang +12
Recent progress in generalizable embodied control has been driven by large-scale pretraining of Vision-Language-Action (VLA) models. However, most existing approaches rely on large…
TaskGround: Structured Executable Task Inference for Full-Scene Household Reasoning
ZhiYuan Feng, Yu Deng, Ruichuan An +11
In real home deployments, household agents must often operate from a complete household scene and a situated household request, rather than from a clean task specification. Such re…
MobileManiBench: Simplifying Model Verification for Mobile Manipulation
Wenbo Wang, Fangyun Wei, QiXiu Li +5
Vision-language-action models have advanced robotic manipulation but remain constrained by reliance on the large, teleoperation-collected datasets dominated by the static, tabletop…
Linear Differential Vision Transformer: Learning Visual Contrasts via Pairwise Differentials
Yifan Pu, Jixuan Ying, Qixiu Li +7
Vision Transformers (ViTs) have become a universal backbone for both image recognition and image generation. Yet their Multi-Head Self-Attention (MHSA) layer still performs a quadr…
Scalable Vision-Language-Action Model Pretraining for Robotic Manipulation with Real-Life Human Activity Videos
Qixiu Li, Yu Deng, Yaobo Liang +14
This paper presents a novel approach for pretraining robotic manipulation Vision-Language-Action (VLA) models using a large corpus of unscripted real-life video recordings of human…
Seeing Across Views: Benchmarking Spatial Reasoning of Vision-Language Models in Robotic Scenes
Zhiyuan Feng, Zhaolu Kang, Qijie Wang +16
Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent V…
CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation
Qixiu Li, Yaobo Liang, Zeyu Wang +15
The advancement of large Vision-Language-Action (VLA) models has significantly improved robotic manipulation in terms of language-guided task execution and generalization to unseen…
SynChart: Synthesizing Charts from Language Models
Mengchen Liu, Qixiu Li, Dongdong Chen +3
With the release of GPT-4V(O), its use in generating pseudo labels for multi-modality tasks has gained significant popularity. However, it is still a secret how to build such advan…
Efficient Diffusion Transformer with Step-wise Dynamic Attention Mediators
Yifan Pu, Zhuofan Xia, Jiayi Guo +9
This paper identifies significant redundancy in the query-key interactions within self-attention mechanisms of diffusion transformer models, particularly during the early stages of…
DreamReward: Text-to-3D Generation with Human Preference
Junliang Ye, Fangfu Liu, Qixiu Li +5
3D content creation from text prompts has shown remarkable success recently. However, current text-to-3D methods often generate 3D results that do not align well with human prefere…