11 papers
WISE: World-model-guided Imagination Scheduling for Efficient Post-training of Vision-Language-Action Models
Chenhao Zhang, Hanyu Zhao, Hang Cheng +2
Post-training VLA policies typically rely on supervised fine-tuning with costly expert demonstrations or reinforcement learning with expensive and potentially unstable real-world e…
ResCue: Residual Spatial Cueing for Language-Conditioned Imitation Learning
Yanzhe Tang, Xinyu Shao, Yuxuan Hu +8
Visual imitation policies must learn which image regions matter for action, whether applying the same operation to different objects or selecting a language-specified target. We in…
ATG-MoE: Autoregressive trajectory generation with mixture-of-experts for assembly skill learning
Weihang Huang, Chaoran Zhang, Xiaoxin Deng +4
Flexible manufacturing requires robot systems that can adapt to constantly changing tasks, objects, and environments. However, traditional robot programming is labor-intensive and…
SculptDrug : A Spatial Condition-Aware Bayesian Flow Model for Structure-based Drug Design
Qingsong Zhong, Haomin Yu, Yan Lin +3
Structure-Based drug design (SBDD) has emerged as a popular approach in drug discovery, leveraging three-dimensional protein structures to generate drug ligands. However, existing…
Imaginarium: Vision-guided High-Quality 3D Scene Layout Generation
Xiaoming Zhu, Xu Huang, Qinghongbing Xie +8
Generating artistic and coherent 3D scene layouts is crucial in digital content creation. Traditional optimization-based methods are often constrained by cumbersome manual rules, w…
Perception Before Reasoning: Two-Stage Reinforcement Learning for Visual Reasoning in Vision-Language Models
Yan Chen, Long Li, Teng Xi +2
Reinforcement learning (RL) has proven highly effective in eliciting the reasoning capabilities of large language models (LLMs). Inspired by this success, recent studies have explo…
More than A Point: Capturing Uncertainty with Adaptive Affordance Heatmaps for Spatial Grounding in Robotic Tasks
Xinyu Shao, Yanzhe Tang, Pengwei Xie +6
Many language-guided robotic systems rely on collapsing spatial reasoning into discrete points, making them brittle to perceptual noise and semantic ambiguity. To address this chal…
GTR-Bench: Evaluating Geo-Temporal Reasoning in Vision-Language Models
Qinghongbing Xie, Zhaoyuan Xia, Feng Zhu +4
Recently spatial-temporal intelligence of Visual-Language Models (VLMs) has attracted much attention due to its importance for autonomous driving, embodied AI and general AI. Exist…
AssemMate: Graph-Based LLM for Robotic Assembly Assistance
Qi Zheng, Chaoran Zhang, Zijian Liang +5
Large Language Model (LLM)-based robotic assembly assistance has gained significant research attention. It requires the injection of domain-specific knowledge to guide the assembly…
Demonstrating DVS: Dynamic Virtual-Real Simulation Platform for Mobile Robotic Tasks
Zijie Zheng, Zeshun Li, Yunpeng Wang +2
With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to i…
DSM: Constructing a Diverse Semantic Map for 3D Visual Grounding
Qinghongbing Xie, Zijian Liang, Fuhao Li +1
Effective scene representation is critical for the visual grounding ability of representations, yet existing methods for 3D Visual Grounding are often constrained. They either only…