14 papers · 1 filter
MoPA: Coordinated Mobile Manipulation via Subsystem-Specific Perception Alignment
Guangyu Chen, Qiwei Liang, Shaolong Zhu +7
Mobile manipulation requires perceptual evidence at different spatial scales for base motion and arm control, while the two action modalities remain kinematically coupled. Existing…
CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation
Yushan Liu, Peibo Sun, Xintao Chao +8
Vision-language-action (VLA) policies commonly execute long-horizon mobile manipulation through open-loop action chunks, issuing multiple actions without receiving new high-level v…
FutureNav: Unified World-Action Modeling for Vision-and-Language Navigation
Lingfeng Zhang, Zeying Gong, Xiaoshuai Hao +7
Vision-and-language navigation (VLN) in continuous environments requires an agent to ground instructions in egocentric observations while maintaining spatial understanding across l…
OneVLA: A Unified Framework for Embodied Tasks
Lingfeng Zhang, Xiaoshuai Hao, Yingbo Tang +10
Navigation and manipulation are fundamental capabilities of embodied intelligence, enabling robots to interpret natural language commands and interact physically with their surroun…
Learning Human-Intention Priors from Large-Scale Human Demonstrations for Robotic Manipulation
Yifan Xie, YuAn Wang, Guangyu Chen +3
Human videos contain rich manipulation priors, but using them for robot learning remains difficult because raw observations entangle scene understanding, human motion, and embodime…
Agent-Centric Observation Adaptation for Robust Visual Control under Dynamic Perturbations
Zhengru Fang, Yu Guo, Fei Liu +5
Real-world visual systems face time-varying perturbations, including weather, sensor noise, compression artifacts, and background distractions. Existing image restoration methods a…