5 papers
ConLA: Contrastive Latent Action Learning from Human Videos for Robotic Manipulation
Weisheng Dai, Kai Lan, Jianyi Zhou +5
Vision-Language-Action (VLA) models achieve preliminary generalization through pretraining on large scale robot teleoperation datasets. However, acquiring datasets that comprehensi…
APEX: A Decoupled Memory-based Explorer for Asynchronous Aerial Object Goal Navigation
Daoxuan Zhang, Ping Chen, Xiaobo Xia +4
Aerial Object Goal Navigation, a challenging frontier in Embodied AI, requires an Unmanned Aerial Vehicle (UAV) agent to autonomously explore, reason, and identify a specific targe…
Inject Once Survive Later: Backdooring Vision-Language-Action Models to Persist Through Downstream Fine-tuning
Jianyi Zhou, Yujie Wei, Ruichen Zhen +5
Vision-Language-Action (VLA) models have become foundational to modern embodied AI systems. By integrating visual perception, language understanding, and action planning, they enab…
UtilGen: Utility-Centric Generative Data Augmentation with Dual-Level Task Adaptation
Jiyu Guo, Shuo Yang, Yiming Huang +6
Data augmentation using generative models has emerged as a powerful paradigm for enhancing performance in computer vision tasks. However, most existing augmentation approaches prim…
L-MTP: Leap Multi-Token Prediction Beyond Adjacent Context for Large Language Models
Xiaohao Liu, Xiaobo Xia, Weixiang Zhao +6
Large language models (LLMs) have achieved notable progress. Despite their success, next-token prediction (NTP), the dominant method for LLM training and inference, is constrained…