4 papers · 1 filter
Vision-Language Models Are Joint Denoisers in Robotic Action Generation
Xicheng Gong, Wenxuan Song, Chengze Liu +5
Diffusion-based vision-language-action (VLA) models cascade pretrained vision-language models (VLMs) with diffusion action experts, but typically restrict the VLM to providing stat…
RePlan-Bot: Multi-Level Replanning for Embodied Instruction Following
Xicheng Gong, Guozheng Sun, Peiran Xu +1
Embodied instruction following (EIF) requires agents to understand and execute complex natural language commands within interactive 3D environments. Despite recent advances, existi…
Extending Embodied Question Answering from Perception to Decision
Xicheng Gong, Qiwei Li, Peiran Xu +1
Embodied Question Answering (EQA) connects perception, reasoning, and interaction within embodied environments. However, existing datasets and benchmarks remain fragmented, each fo…
RotVLA: Rotational Latent Action for Vision-Language-Action Model
Qiwei Li, Xicheng Gong, Xinghang Li +5
Latent Action Models (LAMs) have emerged as an effective paradigm for handling heterogeneous datasets during Vision-Language-Action (VLA) model pretraining, offering a unified acti…