8 papers
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…
ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction
Shiqi Zhang, Xin Zhang, Yedong Shen +9
Fusing tactile signals has proven effective for contact-rich manipulation, enabling robots to perceive contact states and adapt to rapidly changing physical interactions. Yet effec…
iFLYTEK-Embodied-Omni Technical Report
Yuan Zhang, Jingfei Ni, Guanchen Lu +12
General-purpose embodied agents must understand multimodal instructions, anticipate how their environment will evolve, and produce precise control actions over extended horizons. E…
GEAR-VLA: Learning Geometry-Aware Action Representations for Generalizable Robotic Manipulation
Yuan Zhang, Shiqi Zhang, Yedong Shen +11
Vision-Language-Action (VLA) models achieve strong benchmark performance but still struggle in real-world deployment with unseen objects, background shifts, and different robot emb…
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…
PGOV3D: Open-Vocabulary 3D Semantic Segmentation with Partial-to-Global Curriculum
Shiqi Zhang, Sha Zhang, Jiajun Deng +3
Existing open-vocabulary 3D semantic segmentation methods typically supervise 3D segmentation models by merging text-aligned features (e.g., CLIP) extracted from multi-view images…
OG-Gaussian: Occupancy Based Street Gaussians for Autonomous Driving
Yedong Shen, Xinran Zhang, Yifan Duan +5
Accurate and realistic 3D scene reconstruction enables the lifelike creation of autonomous driving simulation environments. With advancements in 3D Gaussian Splatting (3DGS), previ…