11 papers
ActionMap: Robot Policy Learning via Voxel Action Heatmap
Pei Yang, Hai Ci, Yanzhe Chen +3
Vision-language-action (VLA) models have advanced rapidly across backbones, training recipes, and data scale, yet the action decoder, which converts the backbone's hidden state int…
UENR-600K: A Large-Scale Physically Grounded Dataset for Nighttime Video Deraining
Pei Yang, Hai Ci, Beibei Lin +2
Nighttime video deraining is uniquely challenging because raindrops interact with artificial lighting. Unlike daytime white rain, nighttime rain takes on various colors and appears…
Exploring Diffusion with Test-Time Training on Efficient Image Restoration
Rongchang Lu, Tianduo Luo, Yunzhi Jiang +4
Image restoration faces challenges including ineffective feature fusion, computational bottlenecks and inefficient diffusion processes. To address these, we propose DiffRWKVIR, a n…
H2R-Grounder: A Paired-Data-Free Paradigm for Translating Human Interaction Videos into Physically Grounded Robot Videos
Hai Ci, Xiaokang Liu, Pei Yang +2
Robots that learn manipulation skills from everyday human videos could acquire broad capabilities without tedious robot data collection. We propose a video-to-video translation fra…
X-Humanoid: Robotize Human Videos to Generate Humanoid Videos at Scale
Pei Yang, Hai Ci, Yiren Song +1
The advancement of embodied AI has unlocked significant potential for intelligent humanoid robots. However, progress in both Vision-Language-Action (VLA) models and world models is…
TokenPure: Watermark Removal through Tokenized Appearance and Structural Guidance
Pei Yang, Yepeng Liu, Kelly Peng +2
In the digital economy era, digital watermarking serves as a critical basis for ownership proof of massive replicable content, including AI-generated and other virtual assets. Desi…