15 papers
SpatioLM: Towards General Physical Spatial Intelligence in Vision-Language Models
Jing Wu, Jianhua Wu, Jiayi Guan +5
Vision-Language Models (VLMs) perform well on commonsense reasoning tasks but struggle with visual spatial reasoning. Most existing solutions introduce extra 3D prior inputs or ext…
Text-Driven 3D Indoor Scene Synthesis in Non-Manhattan Environments
Xianhui Meng, Zirui Song, Yuchen Zhang +10
Large Language Models (LLMs) have demonstrated remarkable capabilities in 3D indoor synthesis for Manhattan environments. However, existing methods often fail to capture plausible…
OneVLA: A Unified Framework for Embodied Tasks
Lingfeng Zhang, Xiaoshuai Hao, Yingbo Tang +10
Navigation and manipulation are fundamental capabilities of embodied intelligence, enabling robots to interpret natural language commands and interact physically with their surroun…
Reasoning emerges from constrained inference manifolds in large language models
Yanbiao Ma, Fei Luo, Linfeng Zhang +10
Reasoning in large language models is predominantly evaluated through labeled benchmarks, conflating task performance with the quality of internal inference. Here we study reasonin…
Thinking in Text and Images: Interleaved Vision--Language Reasoning Traces for Long-Horizon Robot Manipulation
Jinkun Liu, Haohan Chi, Lingfeng Zhang +6
Long-horizon robotic manipulation requires plans that are both logically coherent and geometrically grounded. Existing Vision-Language-Action policies usually hide planning in late…
MeanFuser: Fast One-Step Multi-Modal Trajectory Generation and Adaptive Reconstruction via MeanFlow for End-to-End Autonomous Driving
Junli Wang, Yinan Zheng, Xueyi Liu +9
Generative models have shown great potential in trajectory planning. Recent studies demonstrate that anchor-guided generative models are effective in modeling the uncertainty of dr…
SEF-MAP: Subspace-Decomposed Expert Fusion for Robust Multimodal HD Map Prediction
Haoxiang Fu, Lingfeng Zhang, Hao Li +7
High-definition (HD) maps are essential for autonomous driving, yet multi-modal fusion often suffers from inconsistency between camera and LiDAR modalities, leading to performance…
DriveWorld-VLA: Unified Latent-Space World Modeling with Vision-Language-Action for Autonomous Driving
Feiyang jia, Lin Liu, Ziying Song +4
End-to-end (E2E) autonomous driving has recently attracted increasing interest in unifying Vision-Language-Action (VLA) with World Models to enhance decision-making and forward-loo…
SocialNav-Map: Dynamic Mapping with Human Trajectory Prediction for Zero-Shot Social Navigation
Lingfeng Zhang, Erjia Xiao, Xiaoshuai Hao +7
Social navigation in densely populated dynamic environments poses a significant challenge for autonomous mobile robots, requiring advanced strategies for safe interaction. Existing…
Is your VLM Sky-Ready? A Comprehensive Spatial Intelligence Benchmark for UAV Navigation
Lingfeng Zhang, Yuchen Zhang, Hongsheng Li +7
Vision-Language Models (VLMs), leveraging their powerful visual perception and reasoning capabilities, have been widely applied in Unmanned Aerial Vehicle (UAV) tasks. However, the…
RoboAfford++: A Generative AI-Enhanced Dataset for Multimodal Affordance Learning in Robotic Manipulation and Navigation
Xiaoshuai Hao, Yingbo Tang, Lingfeng Zhang +6
Robotic manipulation and navigation are fundamental capabilities of embodied intelligence, enabling effective robot interactions with the physical world. Achieving these capabiliti…
Learning to Navigate Socially Through Proactive Risk Perception
Erjia Xiao, Lingfeng Zhang, Yingbo Tang +7
In this report, we describe the technical details of our submission to the IROS 2025 RoboSense Challenge Social Navigation Track. This track focuses on developing RGBD-based percep…
Team Xiaomi EV-AD VLA: Caption-Guided Retrieval System for Cross-Modal Drone Navigation -- Technical Report for IROS 2025 RoboSense Challenge Track 4
Lingfeng Zhang, Erjia Xiao, Yuchen Zhang +7
Cross-modal drone navigation remains a challenging task in robotics, requiring efficient retrieval of relevant images from large-scale databases based on natural language descripti…
MiMo-Embodied: X-Embodied Foundation Model Technical Report
Xiaoshuai Hao, Lei Zhou, Zhijian Huang +41
We open-source MiMo-Embodied, the first cross-embodied foundation model to successfully integrate and achieve state-of-the-art performance in both Autonomous Driving and Embodied A…
DSBench: A Comprehensive Benchmark for Evaluating External and In-Cabin Risks
Xianhui Meng, Yuchen Zhang, Zhijian Huang +12
Vision-Language Models (VLMs) show great promise for autonomous driving, but their suitability for safety-critical scenarios is largely unexplored, raising safety concerns. This is…