46 papers
GeoPano: Towards Geometrically Accurate 3D Reconstruction from a Single Panorama
Jing OU, Zidong Cao, Liaoyuan Fan +7
Panoramic 3D reconstruction enables the holistic recovery of complete 360 scene geometry, offering significant benefits for robotics and AR/VR applications. However, direc…
Language2Drive: Do Vision-Language-Action Models Really Follow the Instructions in Autonomous Driving?
Zihan You, Zehua Fan, Wenqi Lyu +19
Recent Vision-Language-Action (VLA) models increasingly use natural-language instructions to condition autonomous driving behavior. Yet existing closed-loop benchmarks primarily me…
Efficient Multi-Modal Planning with Reward-Guided Preference Optimization for Autonomous Driving
Chenglin Chen, Lujia Wang, Xinhu Zheng +2
Safe and efficient trajectory planning is essential in autonomous driving. However, existing end-to-end approaches often fall short in both computational efficiency and safety guar…
A Topological Representation with Object-Path Graphs for Open-Vocabulary Instance Navigation
Linwei Zheng, Daojie Peng, Bingtao Wang +2
Vision-language navigation requires embodied agents to navigate environments using natural language instructions and visual observations. Existing approaches typically decompose na…
SimFuse3D: Source-Guided Target Simulation and Confidence-Guided Multi-Stage Localization Reweighting for Cross-Platform 3D Object Detection
Yongchun Lin, Xinliang Zhang, Yun Zou +7
Changes in sensor height and viewpoint alter object-level point distributions, making cross-platform LiDAR unsupervised domain adaptation (UDA) difficult. Self-training uses labele…
SSMB: Self-Supervised Local Feature Detection under Motion Blur
Zhenjun Zhao, Fabio Bellavia, Wenting Wang +6
Keypoint detection under motion blur remains a significant challenge, as blur distorts local image structure and degrades the repeatability of feature localization. Existing approa…
DreamTrajectory: Trajectory-Guided Action Generation with World Model Alignment for Mobile Manipulation
Zheng Yang, Wenjie Zhang, Xiangyu Chen +9
Mobile manipulation requires a robot to coordinate base and arm motion under continuously changing viewpoints and contact conditions, within an action space far larger than that of…
Energy-Aware Wind-Resilient Routing for Truck-Assisted Multi-UAV Delivery under Wind Uncertainty
Tianshun Li, Yanggang Sheng, Hongliang Lu +3
Energy feasibility under wind uncertainty is a critical safety issue for low-altitude air-ground delivery. In truck-UAV systems, UAVs complete assigned deliveries and safely return…
4D-WAM: Infusing Spatiotemporal Awareness into World Action Models through Trajectory Fields
Lishan Yang, Wenxuan Song, Xi Wang +14
Building on recent advances in world models, World Action Models (WAMs) jointly model video prediction and action generation. However, they typically represent videos in 2D pixel s…
SG-WAM: Text-Grounded and Spatial-aware Semantic Guidance for World-Action Models
Junjie He, Junfeng Li, Zhide Zhong +9
World-Action Models (WAMs) have emerged as a promising paradigm for robotic manipulation. However, most existing WAMs generate future videos and actions by relying mainly on visual…
Is Forward Prediction Enough? Physical State Grounding for JEPA World Models
Haodong Yan, Jiaguan Zhu, Mingyuan Jia +12
Learning structured and control-relevant latent representations remains a key challenge for world models. Recent JEPA-based world models learn action-conditioned predictive latent…
Robust-WAM: Bridging Generative Pretraining and Semantic Foresight in World-Action Models
Haodong Yan, Junfeng Li, Junjie He +12
Mainstream World-Action Models (WAMs) adapt pretrained video generation models (VGMs) for robot control, transferring their learned dynamics prior for action prediction. These VGMs…
DyPES-VLA: Learning Shared Dynamics Priors and Embodiment-Specific Control for Cross-Embodiment Manipulation
Junfeng Li, Junjie He, Zhide Zhong +12
Vision-Language-Action (VLA) models have become a powerful paradigm for robot manipulation, but training a single generalist policy for heterogeneous robot embodiments remains an o…
MobileWAM: Bridging World Action Models to Mobile Manipulation with Chain-of-Foresight
Zehua Fan, Junjie He, Wenxuan Song +14
World action models (WAMs) built on video generation backbones are a rising recipe for robot learning, yet remain confined to tabletop manipulation. Mobile manipulation demands sim…
Diffusion-based 4D Trajectory Prediction and Distributed Control for UAV Swarms
Tianshun Li, Hongliang Lu, Haoang Li +1
Accurate 4D trajectory prediction and closed-loop tracking are essential for Unmanned Aerial Vehicle (UAV) swarms to achieve safe and efficient operations in complex low-altitude e…
SEDualVLN: A Spatially-Enhanced Dual-System Framework for Vision-Language Navigation
Jingzhi Huang, Junkai Huang, Wenxuan Song +6
Vision-Language Navigation (VLN) approaches have currently followed two primary paradigms: the end-to-end Vision-Language Model (VLM) policy fine-tuned on navigation trajectories t…
Efficient Feature-Free Initialization for Monocular Visual-Inertial Systems Using a Feed-Forward 3D Model
Yuantai Zhang, Jiaqi Yang, Huajian Zeng +5
Fast and reliable initialization is critical for monocular visual-inertial navigation systems (VINS), as it establishes the starting conditions for subsequent state estimation. Des…
HCSG: Human-Centric Semantic-Geometric Reasoning for Vision-Language Navigation
Haoxuan Xu, Tianfu Li, Wenbo Chen +7
VLN has achieved remarkable progress by scaling data and model capacity. However, the assumption of a static environment breaks down in real-world indoor scenarios, where robots in…
RoboMemArena: A Comprehensive and Challenging Robotic Memory Benchmark
Huashuo Lei, Wenxuan Song, Huarui Zhang +10
Memory is a critical component of robotic intelligence, as robots must rely on past observations and actions to accomplish long-horizon tasks in partially observable environments.…
CapVector: Learning Transferable Capability Vectors in Parametric Space for Vision-Language-Action Models
Wenxuan Song, Han Zhao, Fuhao Li +7
This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard s…
Robust Energy-Aware Routing for Air-Ground Cooperative Multi-UAV Delivery in Wind-Uncertain Environments
Tianshun Li, Hongliang Lu, Yanggang Sheng +3
Ensuring energy feasibility under wind uncertainty is critical for the safety and reliability of UAV delivery missions. In realistic truck-drone logistics systems, UAVs must delive…
Fast-dVLA: Accelerating Discrete Diffusion VLA to Real-Time Performance
Wenxuan Song, Jiayi Chen, Shuai Chen +8
This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard s…
VLA-OPD: Bridging Offline SFT and Online RL for Vision-Language-Action Models via On-Policy Distillation
Zhide Zhong, Haodong Yan, Junfeng Li +3
Although pre-trained Vision-Language-Action (VLA) models exhibit impressive generalization in robotic manipulation, post-training remains crucial to ensure reliable performance dur…
DualCoT-VLA: Visual-Linguistic Chain of Thought via Parallel Reasoning for Vision-Language-Action Models
Zhide Zhong, Junfeng Li, Junjie He +10
Vision-Language-Action (VLA) models map visual observations and language instructions directly to robotic actions. While effective for simple tasks, standard VLA models often strug…