5 papers · 1 filter
Resolving State Ambiguity in Robot Manipulation via Adaptive Working Memory Recoding
Qingda Hu, Ziheng Qiu, Zijun Xu +7
State ambiguity is common in robotic manipulation. Identical observations may correspond to multiple valid behavior trajectories. The visuomotor policy must correctly extract the a…
World In Your Hands: A Large-Scale and Open-Source Ecosystem for Learning Human-Centric Manipulation in the Wild
Yupeng Zheng, Jichao Peng, Weize Li +22
We introduce World In Your Hands (WIYH), a large-scale open-source ecosystem comprising over 1,000 hours of human manipulation data collected in-the-wild with millimeter-scale moti…
Guiding the Inner Eye: A Framework for Hierarchical and Flexible Visual Grounded Reasoning
Zhaoyang Wei, Wenchao Ding, Yanchao Hao +1
Models capable of "thinking with images" by dynamically grounding their reasoning in visual evidence represent a major leap in multimodal AI. However, replicating and advancing thi…
STREAMINGGS: Voxel-Based Streaming 3D Gaussian Splatting with Memory Optimization and Architectural Support
Chenqi Zhang, Yu Feng, Jieru Zhao +4
3D Gaussian Splatting (3DGS) has gained popularity for its efficiency and sparse Gaussian-based representation. However, 3DGS struggles to meet the real-time requirement of 90 fram…
LiveVLM: Efficient Online Video Understanding via Streaming-Oriented KV Cache and Retrieval
Zhenyu Ning, Guangda Liu, Qihao Jin +4
Recent developments in Video Large Language Models (Video LLMs) have enabled models to process hour-long videos and exhibit exceptional performance. Nonetheless, the Key-Value (KV)…