6 papers
DualWAM: Dual-System World Action Models for Asynchronous Global Planning and Local Refinement
Yixin Zheng, Jiangran Lyu, Yuntian Deng +6
World Action Models (WAMs) jointly generate robot actions and predict future world states, transferring priors from video pretraining to robot control. However, future visual predi…
World-Ego Modeling for Embodied Video Generation in Long-Horizon Navigation-Manipulation Tasks
Zuyao Lin, Jianhui Zhang, Peidong Jia +4
Embodied video world models typically capture both scene evolution and the robot's behavior, which we refer to as the \emph{world} and the \emph{ego}, respectively. The world and t…
Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning
Yixin Zheng, Jiangran Lyu, Yifan Zhang +8
Extrinsic dexterity leverages environmental contact to overcome the limitations of prehensile manipulation. However, achieving such dexterity in cluttered scenes remains challengin…
Reshaping Action Error Distributions for Reliable Vision-Language-Action Models
Shuanghao Bai, Dakai Wang, Cheng Chi +8
In robotic manipulation, vision-language-action (VLA) models have emerged as a promising paradigm for learning generalizable and scalable robot policies. Most existing VLA framewor…
Latent Reasoning VLA: Latent Thinking and Prediction for Vision-Language-Action Models
Shuanghao Bai, Jing Lyu, Wanqi Zhou +9
Vision-Language-Action (VLA) models benefit from chain-of-thought (CoT) reasoning, but existing approaches incur high inference overhead and rely on discrete reasoning representati…
StereoVLA: Enhancing Vision-Language-Action Models with Stereo Vision
Shengliang Deng, Mi Yan, Yixin Zheng +7
While Vision-Language-Action (VLA) models excel in generalist manipulation, they often lack fine-grained spatial awareness and show limited viewpoint robustness. This limitation la…