10 papers
WorldFly: A World-Model-Based Vision-Language-Action Model for UAV Navigation
Shengtao Zheng, Kai Li, Weichen Zhang +5
End-to-end Vision-Language-Action (VLA) models have shown promise in UAV navigation. However, existing approaches typically rely on historical observations to directly predict acti…
EventPrune: Cascaded Event-Assisted Token Pruning for Efficient First-Person Dynamic Spatial Reasoning
Pengtao Ma, Ziliang Zhou, Ciyu Ruan +7
First-person dynamic spatial reasoning requires models to track continuous motion and precise geometric structure, but the quadratic attention cost of Transformer-based Video-LLMs…
SCOPE: Skeleton Graph-Based Computation-Efficient Framework for Autonomous UAV Exploration
Kai Li, Shengtao Zheng, Linkun Xiu +4
Autonomous exploration in unknown environments is key for mobile robots, helping them perceive, map, and make decisions in complex areas. However, current methods often rely on fre…
Progressive Supernet Training for Efficient Visual Autoregressive Modeling
Xiaoyue Chen, Yuling Shi, Kaiyuan Li +5
Visual Auto-Regressive (VAR) models significantly reduce inference steps through the "next-scale" prediction paradigm. However, progressive multi-scale generation incurs substantia…
EgoPrune: Efficient Token Pruning for Egomotion Video Reasoning in Embodied Agent
Jiaao Li, Kaiyuan Li, Chen Gao +2
Egomotion videos are first-person recordings where the view changes continuously due to the agent's movement. As they serve as the primary visual input for embodied AI agents, maki…
DIMM: Decoupled Multi-hierarchy Kalman Filter for 3D Object Tracking
Jirong Zha, Yuxuan Fan, Kai Li +4
State estimation is challenging for 3D object tracking with high maneuverability, as the target's state transition function changes rapidly, irregularly, and is unknown to the esti…
Balanced Token Pruning: Accelerating Vision Language Models Beyond Local Optimization
Kaiyuan Li, Xiaoyue Chen, Chen Gao +2
Large Vision-Language Models (LVLMs) have shown impressive performance across multi-modal tasks by encoding images into thousands of tokens. However, the large number of image toke…
The Point, the Vision and the Text: Does Point Cloud Boost Spatial Reasoning of Large Language Models? A Bias-Controlled Study
Weichen Zhang, Ruiying Peng, Xin Zeng +9
3D Large Language Models (LLMs) leveraging spatial information in point clouds for 3D spatial reasoning attract great attention. Despite some promising results, the advantages of p…
PLPHP: Per-Layer Per-Head Vision Token Pruning for Efficient Large Vision-Language Models
Yu Meng, Kaiyuan Li, Chenran Huang +4
Large Vision-Language Models (LVLMs) have demonstrated remarkable capabilities across a range of multimodal tasks. However, their inference efficiency is constrained by the large n…
Understanding and Evaluating Hallucinations in 3D Visual Language Models
Ruiying Peng, Kaiyuan Li, Weichen Zhang +3
Recently, 3D-LLMs, which combine point-cloud encoders with large models, have been proposed to tackle complex tasks in embodied intelligence and scene understanding. In addition to…