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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…
What Drives Test-Time Adaptation for CLIP? A Controlled Empirical Study from an Update Perspective
Jiazhen Huang, Xiao Chen, Zhiming Liu +3
Vision-Language Models (VLMs) such as CLIP have become a standard backbone for open-vocabulary recognition, yet their zero-shot predictions remain vulnerable to distribution shifts…
Thinking in Dynamics: How Multimodal Large Language Models Perceive, Track, and Reason Dynamics in Physical 4D World
Yuzhi Huang, Kairun Wen, Rongxin Gao +14
Humans inhabit a physical 4D world where geometric structure and semantic content evolve over time, constituting a dynamic 4D reality (spatial with temporal dimension). While curre…
RoboStream: Weaving Spatio-Temporal Reasoning with Memory in Vision-Language Models for Robotics
Yuzhi Huang, Jie Wu, Weijue Bu +9
Enabling reliable long-horizon robotic manipulation is a crucial step toward open-world embodied intelligence. However, VLM-based planners treat each step as an isolated observatio…