9 papers
ChainVLA: Chaining Vision-Language-Action Queries through a Unified Execution State for Long-Horizon Manipulation
Yuzhi Huang, Weijue Bu, Ziyi Xiong +4
Humans perform long-horizon manipulation by retaining knowledge of what earlier actions have established while continuously adapting the motion underway. By contrast, action-chunke…
Exposure Bias Can Alleviate Itself via Directional and Frequency Rectification in Flow Matching
Guanbo Huang, Jingjia Mao, Fanding Huang +9
Flow Matching (FM) has achieved remarkable generative performance, yet it suffers from exposure bias due to discrepancies between training and inference. Existing mitigation strate…
PRM-as-a-Judge: A Dense Evaluation Paradigm for Fine-Grained Robotic Auditing
Yuheng Ji, Yuyang Liu, Huajie Tan +15
Current robotic evaluation is still largely dominated by binary success rates, which collapse rich execution processes into a single outcome and obscure critical qualities such as…
ReflexFlow: Rethinking Learning Objective for Exposure Bias Alleviation in Flow Matching
Guanbo Huang, Jingjia Mao, Fanding Huang +8
Despite tremendous recent progress, Flow Matching methods still suffer from exposure bias due to discrepancies in training and inference. This paper investigates the root causes of…
IGen: Scalable Data Generation for Robot Learning from Open-World Images
Chenghao Gu, Haolan Kang, Junchao Lin +10
The rise of generalist robotic policies has created an exponential demand for large-scale training data. However, on-robot data collection is labor-intensive and often limited to s…
MoETTA: Test-Time Adaptation Under Mixed Distribution Shifts with MoE-LayerNorm
Xiao Fan, Jingyan Jiang, Zhaoru Chen +6
Test-Time adaptation (TTA) has proven effective in mitigating performance drops under single-domain distribution shifts by updating model parameters during inference. However, real…