6 papers
ZETA: A Controlled Study of Zero-Shot Cross-Embodiment VLA Transfer for Tabletop Manipulation
Mi Yan, Wenhao Zhang, Zhiqi Zhang +14
Zero-shot generalization to unseen embodiments is important for generalizable vision-language-action (VLA) models as robot hardware evolves and task-specific data collection remain…
EFlow: Learning Evidence Flow for Long-Video Reasoning with Adaptive Reflection
Wenhao Zhang, Kuanwei Lin, Xuyi Yang +2
Long-video reasoning is fundamentally constrained by how models acquire and utilize visual evidence. Existing tool-augmented video frameworks often interleave temporal grounding an…
VideoCuRL: Video Curriculum Reinforcement Learning with Orthogonal Difficulty Decomposition
Hongbo Jin, Kuanwei Lin, Wenhao Zhang +2
Reinforcement Learning (RL) is crucial for empowering VideoLLMs with complex spatiotemporal reasoning. However, current RL paradigms predominantly rely on random data shuffling or…
StereoVLA: Enhancing Vision-Language-Action Models with Stereo Vision
Shengliang Deng, Mi Yan, Yixin Zheng +7
While Vision-Language-Action (VLA) models excel in generalist manipulation, they often lack fine-grained spatial awareness and show limited viewpoint robustness. This limitation la…
Global Convergence of Policy Gradient for Entropy Regularized Linear-Quadratic Control with Multiplicative Noise
Gabriel Diaz, Lucky Li, Wenhao Zhang
Reinforcement Learning (RL) has emerged as a powerful framework for sequential decision-making in dynamic environments, particularly when system parameters are unknown. This paper…
Enhancing Long Video Question Answering with Scene-Localized Frame Grouping
Xuyi Yang, Wenhao Zhang, Hongbo Jin +5
Current Multimodal Large Language Models (MLLMs) often perform poorly in long video understanding, primarily due to resource limitations that prevent them from processing all video…