1 citations · 3 across the 11 of their papers we have counts for
13 papers
TaskAnchor: Grounding Task State in Reactive VLAs for Long-Horizon Manipulation
Hengyan Liu, Wenlve Zhou, Bo Yue +7
Reactive vision-language-action (VLA) policies suffer from task-state aliasing in long-horizon manipulation, where identical multimodal inputs call for distinct, context-dependent…
MosaicThinker: On-Device Visual Spatial Reasoning for Embodied AI via Iterative Construction of Space Representation
Haoming Wang, Qiyao Xue, Weichen Liu +1
When embodied AI is expanding from traditional object detection and recognition to more advanced tasks of robot manipulation and actuation planning, visual spatial reasoning from t…
A Large-Scale Multimodal Dataset and Benchmarks for Human Activity Scene Understanding and Reasoning
Siyang Jiang, Mu Yuan, Xiang Ji +12
Multimodal human action recognition (HAR) leverages complementary sensors for activity classification. Beyond recognition, recent advances in large language models (LLMs) enable de…
InfiniBench: Infinite Benchmarking for Visual Spatial Reasoning with Customizable Scene Complexity
Haoming Wang, Qiyao Xue, Wei Gao
Modern vision-language models (VLMs) are expected to have abilities of spatial reasoning with diverse scene complexities, but evaluating such abilities is difficult due to the lack…
Reasoning Path and Latent State Analysis for Multi-view Visual Spatial Reasoning: A Cognitive Science Perspective
Qiyao Xue, Weichen Liu, Shiqi Wang +3
Spatial reasoning is a core aspect of human intelligence that allows perception, inference and planning in 3D environments. However, current vision-language models (VLMs) struggle…
Spatial Reasoning in Multimodal Large Language Models: A Survey of Tasks, Benchmarks and Methods
Weichen Liu, Qiyao Xue, Haoming Wang +3
Spatial reasoning, which requires ability to perceive and manipulate spatial relationships in the 3D world, is a fundamental aspect of human intelligence, yet remains a persistent…
Deciphering Personalization: Towards Fine-Grained Explainability in Natural Language for Personalized Image Generation Models
Haoming Wang, Wei Gao
Image generation models are usually personalized in practical uses in order to better meet the individual users' heterogeneous needs, but most personalized models lack explainabili…
ImaginationPolicy: Towards Generalizable, Precise and Reliable End-to-End Policy for Robotic Manipulation
Dekun Lu, Wei Gao, Kui Jia
End-to-end robot manipulation policies offer significant potential for enabling embodied agents to understand and interact with the world. Unlike traditional modular pipelines, end…
MMBERT: Scaled Mixture-of-Experts Multimodal BERT for Robust Chinese Hate Speech Detection under Cloaking Perturbations
Qiyao Xue, Yuchen Dou, Ryan Shi +2
Hate speech detection on Chinese social networks presents distinct challenges, particularly due to the widespread use of cloaking techniques designed to evade conventional text-bas…
ProGait: A Multi-Purpose Video Dataset and Benchmark for Transfemoral Prosthesis Users
Xiangyu Yin, Boyuan Yang, Weichen Liu +4
Prosthetic legs play a pivotal role in clinical rehabilitation, allowing individuals with lower-limb amputations the ability to regain mobility and improve their quality of life. G…
KiloBot: A Programming Language for Deploying Perception-Guided Industrial Manipulators at Scale
Wei Gao, Jingqiang Wang, Xinv Zhu +3
We would like industrial robots to handle unstructured environments with cameras and perception pipelines. In contrast to traditional industrial robots that replay offline-crafted…
IntentionNet: Map-Lite Visual Navigation at the Kilometre Scale
Wei Gao, Bo Ai, Joel Loo +2
This work explores the challenges of creating a scalable and robust robot navigation system that can traverse both indoor and outdoor environments to reach distant goals. We propos…
ASSIST: Interactive Scene Nodes for Scalable and Realistic Indoor Simulation
Zhide Zhong, Jiakai Cao, Songen Gu +6
We present ASSIST, an object-wise neural radiance field as a panoptic representation for compositional and realistic simulation. Central to our approach is a novel scene node data…