13 papers
Making Foresight Actionable: Repurposing Representation Alignment in World Action Models
Lu Qiu, Yizhuo Li, Yi Chen +3
World Action Models (WAMs) offer a promising route for robot manipulation by using video generation models to model future scene evolution before producing control actions. However…
GaussianDWM: 3D Gaussian Driving World Model for Unified Scene Understanding and Multi-Modal Generation
Tianchen Deng, Xuefeng Chen, Yi Chen +8
Driving World Models (DWMs) have been developing rapidly with the advances of generative models. However, existing DWMs lack 3D scene understanding capabilities and can only genera…
DIAL: Decoupling Intent and Action via Latent World Modeling for End-to-End VLA
Yi Chen, Yuying Ge, Hui Zhou +3
The development of Vision-Language-Action (VLA) models has been significantly accelerated by pre-trained Vision-Language Models (VLMs). However, most existing end-to-end VLAs treat…
UniT: Toward a Unified Physical Language for Human-to-Humanoid Policy Learning and World Modeling
Boyu Chen, Yi Chen, Lu Qiu +3
Scaling humanoid foundation models is bottlenecked by the scarcity of robotic data. While massive egocentric human data offers a scalable alternative, bridging the cross-embodiment…
RANGER: A Monocular Zero-Shot Semantic Navigation Framework through Visual Contextual Adaptation
Ming-Ming Yu, Yi Chen, Börje F. Karlsson +1
Efficient target localization and autonomous navigation in complex environments are fundamental to real-world embodied applications. While recent advances in multimodal foundation…
POP: Online Structural Pruning Enables Efficient Inference of Large Foundation Models
Yi Chen, Wonjin Shin, Shuhong Liu +6
Large foundation models (LFMs) achieve strong performance through scaling, yet current structural pruning methods derive fixed pruning decisions during inference, overlooking spars…