10 papers
From Noise to Intent: Anchoring Generative VLA Policies with Residual Bridges
Yiming Zhong, Yaoyu He, Zemin Yang +5
Bridging high-level semantic understanding with low-level physical control remains a persistent challenge in embodied intelligence, stemming from the fundamental spatiotemporal sca…
RadioMaster: Multi-Agent System for Autonomous Radio Signal Generation
Jiazhen Lei, Tianze Cao, Yuxin Sha +5
Translating user intent into physical radio signals is the last critical step in wireless prototyping. It chains protocol planning, baseband synthesis, and hardware configuration.…
Implicit Drifting Policy: One-Step Action Generation via Conditional Expert Geometry
Zemin Yang, Yaoyu He, Yiming Zhong +5
Generative action policies based on diffusion or flow matching excel in behavior cloning, yet their iterative sampling is prohibitive for high-frequency robot control. While recent…
Affordance-R1: Reinforcement Learning for Generalizable Affordance Reasoning in Multimodal Large Language Model
Hanqing Wang, Shaoyang Wang, Yiming Zhong +7
Affordance grounding focuses on predicting the specific regions of objects that are associated with the actions to be performed by robots. It plays a vital role in the fields of hu…
FastGrasp: Learning-based Whole-body Control method for Fast Dexterous Grasping with Mobile Manipulators
Heng Tao, Yiming Zhong, Zemin Yang +1
Fast grasping is critical for mobile robots in logistics, manufacturing, and service applications. Existing methods face fundamental challenges in impact stabilization under high-s…
HUMOF: Human Motion Forecasting in Interactive Social Scenes
Caiyi Sun, Yujing Sun, Xiao Han +5
Complex scenes present significant challenges for predicting human behaviour due to the abundance of interaction information, such as human-human and humanenvironment interactions.…