7 papers · 1 filter
Acting Through Registers
Yiwei Zhang, Yantai Yang, Jin Gao +7
World Action Models (WAMs) use generative visual representations to condition robot actions, yet how these representations organize action-relevant information remains poorly under…
Exploring the Limits of Combinatorial Generalization in Embodied Manipulation
Xupeng Zhang, Yantai Yang, Chang Guo +2
In embodied manipulation, Vision Language Action (VLA) models can execute atomic skills, but long-horizon manipulation requires recombining these skills without demonstrations for…
GASE: Gaussian Splatting-Based Automated System for Reconstructing Embodied-Simulation Environments
Jiawei Zhang, Yiming Yan, Chao Liang +8
Training embodied agents in the real world requires skilled operators and expensive hardware. Simulation environments offer a compelling alternative by enabling large-scale, cost-e…
Flash-Unified: A Training-Free and Task-Aware Acceleration Framework for Native Unified Models
Junlong Ke, Zichen Wen, Boxue Yang +6
Native unified multimodal models, which integrate both generative and understanding capabilities, face substantial computational overhead that hinders their real-world deployment.…
QVLA: Not All Channels Are Equal in Vision-Language-Action Model's Quantization
Yuhao Xu, Yantai Yang, Zhenyang Fan +4
The advent of Vision-Language-Action (VLA) models represents a significant leap for embodied intelligence, yet their immense computational demands critically hinder deployment on r…
Grounding and Enhancing Informativeness and Utility in Dataset Distillation
Shaobo Wang, Yantai Yang, Guo Chen +5
Dataset Distillation (DD) seeks to create a compact dataset from a large, real-world dataset. While recent methods often rely on heuristic approaches to balance efficiency and qual…
InfiniteVGGT: Visual Geometry Grounded Transformer for Endless Streams
Shuai Yuan, Yantai Yang, Xiaotian Yang +4
The grand vision of enabling persistent, large-scale 3D visual geometry understanding is shackled by the irreconcilable demands of scalability and long-term stability. While offlin…