11 papers
Fewer Steps, Better Actions: Rethinking Flow-Matching Inference for VLA Policies
Zhipeng Tang, Xinda Chen, Weining Rao +5
Vision-language-action (VLA) policies based on flow matching generate action chunks through repeated evaluations of an action expert. Increasing the number of integration steps rai…
RoMAN-Flow: Taming Autoregressive Normalizing Flows for Offline Reinforcement Learning in Robotic Manipulation
Shaoxuan Wang, Guangting Zheng, Rui Huang +4
Offline reinforcement learning improves robotic policies using previously collected data without further environment interaction. Yet prevalent diffusion- and flow-matching robot p…
LabDex: A Hierarchical Benchmark for Dexterous Manipulation in Laboratories
Zhipeng Tang, Sihang Chen, Sha Zhang +11
Autonomous laboratories hold great promise for accelerating scientific discovery. To achieve this vision, robots are supposed to dexterously manipulate diverse labware and instrume…
Medical thinking with multiple images
Zonghai Yao, Benlu Wang, Yifan Zhang +8
Large language models perform well on many medical QA benchmarks, but real clinical reasoning often requires integrating evidence across multiple images rather than interpreting a…
Rethinking Patient Education as Multi-turn Multi-modal Interaction
Zonghai Yao, Zhipeng Tang, Chengtao Lin +5
Most medical multimodal benchmarks focus on static tasks such as image question answering, report generation, and plain-language rewriting. Patient education is more demanding: sys…
Goal2Skill: Long-Horizon Manipulation with Adaptive Planning and Reflection
Zhen Liu, Xinyu Ning, Zhe Hu +8
Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows…
Environment-Aware Adaptive Pruning with Interleaved Inference Orchestration for Vision-Language-Action Models
Yuting Huang, Leilei Ding, Zhipeng Tang +7
While Vision-Language-Action (VLA) models hold promise in embodied intelligence, their large parameter counts lead to substantial inference latency that hinders real-time manipulat…
VLMPlanner: Integrating Visual Language Models with Motion Planning
Zhipeng Tang, Sha Zhang, Jiajun Deng +5
Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controlla…
ElectricSight: 3D Hazard Monitoring for Power Lines Using Low-Cost Sensors
Xingchen Li, LiDian Wang, Yu Sheng +6
Protecting power transmission lines from potential hazards involves critical tasks, one of which is the accurate measurement of distances between power lines and potential threats,…
A Framework for Benchmarking and Aligning Task-Planning Safety in LLM-Based Embodied Agents
Yuting Huang, Leilei Ding, Zhipeng Tang +5
Large Language Models (LLMs) exhibit substantial promise in enhancing task-planning capabilities within embodied agents due to their advanced reasoning and comprehension. However,…
Self-Supervised Pre-training with Combined Datasets for 3D Perception in Autonomous Driving
Shumin Wang, Zhuoran Yang, Lidian Wang +7
The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-trai…