5 papers
MobiAgent: Dual-Loop Recursive Policy Self-Improvement for Long-Horizon Mobile Manipulation
Chenzhi Liu, Yue Zhang, Jiehong Lin +4
Long-horizon mobile manipulation presents significant challenges due to compounding execution errors and capacity interference between locomotion and arm control. While recent Visi…
When to Trust Imagination: Adaptive Action Execution for World Action Models
Rui Wang, Yue Zhang, Jiehong Lin +5
World Action Models (WAMs) jointly predict future visual observations and actions, but typically execute a fixed number of actions before replanning, regardless of whether the imag…
Learning to Reason in 4D: Dynamic Spatial Understanding for Vision Language Models
Shengchao Zhou, Yuxin Chen, Yuying Ge +4
Vision-language models (VLM) excel at general understanding yet remain weak at dynamic spatial reasoning (DSR), i.e., reasoning about the evolvement of object geometry and relation…
ASSIST-3D: Adapted Scene Synthesis for Class-Agnostic 3D Instance Segmentation
Shengchao Zhou, Jiehong Lin, Jiahui Liu +3
Class-agnostic 3D instance segmentation tackles the challenging task of segmenting all object instances, including previously unseen ones, without semantic class reliance. Current…
MG-Nav: Dual-Scale Visual Navigation via Sparse Spatial Memory
Bo Wang, Jiehong Lin, Chenzhi Liu +5
We present MG-Nav (Memory-Guided Navigation), a dual-scale framework for zero-shot visual navigation that unifies global memory-guided planning with local geometry-enhanced control…