4 papers
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…
OccLE: Label-Efficient 3D Semantic Occupancy Prediction
Naiyu Fang, Zheyuan Zhou, Fayao Liu +5
3D semantic occupancy prediction offers an intuitive and efficient scene understanding and has attracted significant interest in autonomous driving perception. Existing approaches…
DSOcc: Leveraging Depth Awareness and Semantic Aid to Boost Camera-Based 3D Semantic Occupancy Prediction
Naiyu Fang, Zheyuan Zhou, Kang Wang +5
Camera-based 3D semantic occupancy prediction offers an efficient and cost-effective solution for perceiving surrounding scenes in autonomous driving. However, existing works rely…
CAD-Judge: Toward Efficient Morphological Grading and Verification for Text-to-CAD Generation
Zheyuan Zhou, Jiayi Han, Liang Du +3
Computer-Aided Design (CAD) models are widely used across industrial design, simulation, and manufacturing processes. Text-to-CAD systems aim to generate editable, general-purpose…