7 papers
ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining
Hao Li, Ganlong Zhao, Yufei Liu +8
Vision-Language-Action (VLA) models benefit from large-scale and diverse embodied data, yet scaling robot trajectory collection is costly and labor-intensive. Recent advances show…
Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes
Tongyan Fang, Siyuan Huang, Naiyu Fang +6
When pretrained VLA policies are fine-tuned through online RL, each rollout episode produces only a single binary outcome (success or failure), yet the actor update requires per-tr…
Bridging the Agent-World Gap: Text World Models for LLM-based Agents
Yixia Li, Hongru Wang, Peng Lai +13
Large language model (LLM)-based agents are increasingly used in interactive textual environments, from web navigation and code editing to tool use and long-horizon dialogue. Yet m…
LookasideVLN: Direction-Aware Aerial Vision-and-Language Navigation
Yuwei Ning, Ganlong Zhao, Yipeng Qin +4
Aerial Vision-and-Language Navigation (Aerial VLN) enables unmanned aerial vehicles (UAVs) to follow natural language instructions and navigate complex urban environments. While re…
3DGS-HPC: Distractor-free 3D Gaussian Splatting with Hybrid Patch-wise Classification
Jiahao Chen, Yipeng Qin, Ganlong Zhao +3
3D Gaussian Splatting (3DGS) has demonstrated remarkable performance in novel view synthesis and 3D scene reconstruction, yet its quality often degrades in real-world environments…
Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AI
Yang Liu, Weixing Chen, Yongjie Bai +4
Embodied Artificial Intelligence (Embodied AI) is crucial for achieving Artificial General Intelligence (AGI) and serves as a foundation for various applications (e.g., intelligent…