2 citations · 4 across the 13 of their papers we have counts for
13 papers
Asymptotics of Hankel determinants for potentials with singular edge points
Dan Dai, Jia-Hao Du, Chenhao Lu
We establish the large- asymptotics of Hankel determinants for unitary random matrix ensembles possessing a higher-order edge singularity. We focus on ensembles where the equili…
On The Eigenvalue Rigidity of the Laguerre Unitary Ensemble
Chenhao Lu, Xiaolu Yue
In this paper, we establish an optimal global rigidity estimate for the eigenvalues of the Laguerre unitary ensemble. Using the central limit theorem, we first construct a random m…
MemoryWAM: Efficient World Action Modeling with Persistent Memory
Sizhe Yang, Juncheng Mu, Tianming Wei +8
Robust robotic manipulation in the real world requires not only an understanding of the current observation, but also memory and dynamics modeling. World action models (WAMs) posse…
UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos
Gu Zhang, Qicheng Xu, Haozhe Zhang +16
Dexterous manipulation remains challenging due to the cost of collecting real-robot teleoperation data, the heterogeneity of hand embodiments, and the high dimensionality of contro…
FASTer: Toward Efficient Autoregressive Vision Language Action Modeling via Neural Action Tokenization
Yicheng Liu, Shiduo Zhang, Zibin Dong +12
Autoregressive vision-language-action (VLA) models have recently demonstrated strong capabilities in robotic manipulation. However, their core process of action tokenization often…
On The Eigenvalue Rigidity of the Jacobi Unitary Ensemble
Dan Dai, Chenhao Lu
In this paper, we prove an optimal global rigidity estimate for the eigenvalues of the Jacobi unitary ensemble. Our approach begins by constructing a random measure defined through…
Enhancing Adversarial Transferability through Block Stretch and Shrink
Quan Liu, Feng Ye, Chenhao Lu +4
Input transformation-based attacks improve adversarial transferability by aggregating gradients over transformed inputs. Existing analyses mainly explain their efficacy from image…
DepthVLA: Enhancing Vision-Language-Action Models with Depth-Aware Spatial Reasoning
Tianyuan Yuan, Yicheng Liu, Chenhao Lu +3
Vision-Language-Action (VLA) models have recently shown impressive generalization and language-guided manipulation capabilities. However, their performance degrades on tasks requir…
Galaxea Open-World Dataset and G0 Dual-System VLA Model
Tao Jiang, Tianyuan Yuan, Yicheng Liu +7
We present Galaxea Open-World Dataset, a large-scale, diverse collection of robot behaviors recorded in authentic human living and working environments. All demonstrations are gath…
Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control
Chenhao Lu, Xuxin Cheng, Jialong Li +6
Humanoid robots require both robust lower-body locomotion and precise upper-body manipulation. While recent Reinforcement Learning (RL) approaches provide whole-body loco-manipulat…
MENTOR: Mixture-of-Experts Network with Task-Oriented Perturbation for Visual Reinforcement Learning
Suning Huang, Zheyu Zhang, Tianhai Liang +6
Visual deep reinforcement learning (RL) enables robots to acquire skills from visual input for unstructured tasks. However, current algorithms suffer from low sample efficiency, li…
Rethinking Transformers in Solving POMDPs
Chenhao Lu, Ruizhe Shi, Yuyao Liu +3
Sequential decision-making algorithms such as reinforcement learning (RL) in real-world scenarios inevitably face environments with partial observability. This paper scrutinizes th…
Uni-O4: Unifying Online and Offline Deep Reinforcement Learning with Multi-Step On-Policy Optimization
Kun Lei, Zhengmao He, Chenhao Lu +3
Combining offline and online reinforcement learning (RL) is crucial for efficient and safe learning. However, previous approaches treat offline and online learning as separate proc…