11 papers
SEES: A Self-Evolving Embodied System via Failure-Guided VLA Policy Adaptation
Ziwen Li, Hanlue Zhang, Zhenyang Ren +9
Recent vision-language-action (VLA) policies demonstrate promising generalization across diverse short-horizon tasks. However, they remain unreliable on long-horizon tasks, partly…
From Fixed Grids to Moving Particles:A Transferable Latent Operator for Fluid Dynamics
Meng Li, Chuqi Chen, Zhengqing Gao +4
Lagrangian modeling is vital to fluid dynamics, as it characterizes particle transport and complements the Eulerian representation. However, Lagrangian trajectories are less common…
AnisoLift: Anisotropic Latent Representations for Coarse Particle Liquid Enhancement
Zhengqing Gao, Huaxi Huang, Runqi Lin +6
Particle-based liquid simulation is widely used in graphics and physical modeling, but high-resolution rollouts remain computationally expensive. Consequently, many methods aim to…
FLUIDSPLAT: Reconstructing Physical Fields from Sparse Sensors via Gaussian Primitives
Huaxi Huang, Meng Li, Zhengqing Gao +3
Reconstructing continuous flow fields from sparse surface-mounted sensors is central to aerodynamic design, flow control, and digital-twin instrumentation. Existing neural methods…
ExecVLA: Following Fine-Grained Execution Constraints in Vision-Language-Action Models with Bi-Level Action Representation
Gaoge Han, Zhengqing Gao, Ziwen Li +5
We study fine-grained execution-constraint following in vision-language-action (VLA) models. Given an invariant task goal, the policy must follow instruction-specified execution co…
HUGE-Bench: A Benchmark for High-Level UAV Vision-Language-Action Tasks
Jingyu Guo, Ziye Chen, Ziwen Li +7
Existing UAV vision-language navigation (VLN) benchmarks have enabled language-guided flight, but they largely focus on long, step-wise route descriptions with goal-centric evaluat…
Mirage2Matter: A Physically Grounded Gaussian World Model from Video
Zhengqing Gao, Ziwen Li, Xin Wang +12
The scalability of embodied intelligence is fundamentally constrained by the scarcity of real-world interaction data. While simulation platforms provide a promising alternative, ex…
SURPRISE3D: A Dataset for Spatial Understanding and Reasoning in Complex 3D Scenes
Jiaxin Huang, Ziwen Li, Hanlve Zhang +6
The integration of language and 3D perception is critical for embodied AI and robotic systems to perceive, understand, and interact with the physical world. Spatial reasoning, a ke…
ProtoGS: Efficient and High-Quality Rendering with 3D Gaussian Prototypes
Zhengqing Gao, Dongting Hu, Jia-Wang Bian +5
3D Gaussian Splatting (3DGS) has made significant strides in novel view synthesis but is limited by the substantial number of Gaussian primitives required, posing challenges for de…
MLLM-For3D: Adapting Multimodal Large Language Model for 3D Reasoning Segmentation
Jiaxin Huang, Runnan Chen, Ziwen Li +5
Reasoning segmentation aims to segment target objects in complex scenes based on human intent and spatial reasoning. While recent multimodal large language models (MLLMs) have demo…
Local Causal Discovery with Linear non-Gaussian Cyclic Models
Haoyue Dai, Ignavier Ng, Yujia Zheng +2
Local causal discovery is of great practical significance, as there are often situations where the discovery of the global causal structure is unnecessary, and the interest lies so…