9 papers
MaskVLA: Visual Masking Against Trajectory Overfitting of Vision-Language-Action Model
Yuxuan Jiang, Jiaying Huang, Ge Wang +9
Vision-Language-Action (VLA) models integrate vision-language understanding with executable robot actions, enabling end-to-end learning for robot control. However, our empirical an…
UR-VC: Unsupervised Robotic Value Correction for Time-Derived Progress Proxies
Lirui Zhao, Modi Shi, Li Chen +3
Modern robot learning systems increasingly rely on dense progress or value signals to evaluate intermediate states, guide policy learning, and detect task completion, making the qu…
PrismAD: Decoupled Planning via Semantic Mixture-of-Planners for End-to-End Autonomous Driving
Kang Ding, Zhigui Lin, Hongsong Wang +5
This letter presents PrismAD, a decoupled end-to-end autonomous driving framework based on a Semantic Mixture-of-Planners. Existing planners usually aggregate heterogeneous scene t…
Acting While Understanding: Asynchronous Semantic-Action Decoupling for Real-Time Vision-Language-Action Models
Shenhao Yan, Ge Wang, Qi Liu +7
Vision-Language-Action models (VLAs) have demonstrated strong task understanding and generalization in robotic manipulation, yet the high computational cost of full-model inference…
MaMi-HOI: Harmonizing Global Kinematics and Local Geometry for Human-Object Interaction Generation
Hao Wang, Shiqi Wang, Qi Liu
Generating realistic 3D Human-Object Interactions (HOI) is a fundamental task for applications ranging from embodied AI to virtual content creation, which requires harmonizing high…
RobotEQ: Towards Social Proactive Intelligence in Embodied Agents
Kuofei Fang, Zheng Lian, Xinyi Che +13
Embodied agents represent a prominent research focus across both academia and industry. The prevailing paradigm has gradually shifted from reactive assistance, which requires expli…
CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System
Zhehan Li, Zheng Wang, Jiadong Lu +6
Relative localization is essential for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions, or t…
An Anatomy of Vision-Language-Action Models: From Modules to Milestones and Challenges
Chao Xu, Suyu Zhang, Yang Liu +11
Vision-Language-Action (VLA) models are driving a revolution in robotics, enabling machines to understand instructions and interact with the physical world. This field is exploding…
Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning
Dongjie Zhu, Zhuo Yang, Tianhang Wu +4
Advancing the dynamic loco-manipulation capabilities of quadruped robots in complex terrains is crucial for performing diverse tasks. Specifically, dynamic ball manipulation in rug…