4 citations · 4 across the 12 of their papers we have counts for
17 papers
Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation
Chi Zhang, Penglin Cai, Ziheng Xi +6
As an essential modality for dexterous and contact-rich tasks, tactile sensing provides precise force feedback that cannot be reliably inferred from vision. However, limited by har…
RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning
Chaoyi Xu, Yixuan Jiang, Jiahui Huan +7
Learning dexterous manipulation requires demonstrations that preserve fine hand-object interactions while remaining executable at deployment. Existing pipelines either lose deploya…
Being-H0.7: A Latent World-Action Model from Egocentric Videos
Hao Luo, Wanpeng Zhang, Yicheng Feng +6
Visual-Language-Action models (VLAs) have advanced generalist robot control by mapping multimodal observations and language instructions directly to actions, but sparse action supe…
Unmasking the Illusion of Embodied Reasoning in Vision-Language-Action Models
Haiweng Xu, Sipeng Zheng, Hao Luo +3
Recent Vision-Language-Action (VLA) models report impressive success rates on standard robotic benchmarks, fueling optimism about general-purpose physical intelligence. However, re…
Conservative Offline Robot Policy Learning via Posterior-Transition Reweighting
Wanpeng Zhang, Hao Luo, Sipeng Zheng +6
Offline post-training adapts a pretrained robot policy to a target dataset by supervised regression on recorded actions. In practice, robot datasets are heterogeneous: they mix emb…
Joint-Aligned Latent Action: Towards Scalable VLA Pretraining in the Wild
Hao Luo, Ye Wang, Wanpeng Zhang +5
Despite progress, Vision-Language-Action models (VLAs) are limited by a scarcity of large-scale, diverse robot data. While human manipulation videos offer a rich alternative, exist…
Rethinking Visual-Language-Action Model Scaling: Alignment, Mixture, and Regularization
Ye Wang, Sipeng Zheng, Hao Luo +9
While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" rec…
Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalization
Hao Luo, Ye Wang, Wanpeng Zhang +9
We introduce Being-H0.5, a foundational Vision-Language-Action (VLA) model designed for robust cross-embodiment generalization across diverse robotic platforms. While existing VLAs…
Spatial-Aware VLA Pretraining through Visual-Physical Alignment from Human Videos
Yicheng Feng, Wanpeng Zhang, Ye Wang +4
Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing ap…
Transport Discrepancy as a Reliability Signal for Vision-Language-Action Models
Wanpeng Zhang, Ye Wang, Hao Luo +6
Vision-language-action (VLA) models that generate continuous action chunks via flow matching lack an internal signal for judging whether a given prediction is reliable. Distributio…
Federated Dialogue-Semantic Diffusion for Emotion Recognition under Incomplete Modalities
Xihang Qiu, Jiarong Cheng, Yuhao Fang +4
Multimodal Emotion Recognition in Conversations (MERC) enhances emotional understanding through the fusion of multimodal signals. However, unpredictable modality absence in real-wo…
Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos
Hao Luo, Yicheng Feng, Wanpeng Zhang +7
We introduce Being-H0, a dexterous Vision-Language-Action model (VLA) trained on large-scale human videos. Existing VLAs struggle with complex manipulation tasks requiring high dex…
Unified Multimodal Understanding via Byte-Pair Visual Encoding
Wanpeng Zhang, Yicheng Feng, Hao Luo +4
Multimodal large language models (MLLMs) have made significant progress in vision-language understanding, yet effectively aligning different modalities remains a fundamental challe…
EfficientLLM: Scalable Pruning-Aware Pretraining for Architecture-Agnostic Edge Language Models
Xingrun Xing, Zheng Liu, Shitao Xiao +6
Modern large language models (LLMs) driven by scaling laws, achieve intelligence emergency in large model sizes. Recently, the increasing concerns about cloud costs, latency, and p…
VideoOrion: Tokenizing Object Dynamics in Videos
Yicheng Feng, Yijiang Li, Wanpeng Zhang +4
We present VideoOrion, a Video Large Language Model (Video-LLM) that explicitly captures the key semantic information in videos - the spatial-temporal dynamics of objects throughou…
From Pixels to Tokens: Byte-Pair Encoding on Quantized Visual Modalities
Wanpeng Zhang, Zilong Xie, Yicheng Feng +4
Multimodal Large Language Models have made significant strides in integrating visual and textual information, yet they often struggle with effectively aligning these modalities. We…
SpikeLLM: Scaling up Spiking Neural Network to Large Language Models via Saliency-based Spiking
Xingrun Xing, Boyan Gao, Zheng Zhang +5
Recent advancements in large language models (LLMs) with billions of parameters have improved performance in various applications, but their inference processes demand significant…