12 papers
MAST-VLA: Skill-Conditioned Adaptation with Trajectory-Affordance Priors for Multi-Skill Robot Manipulation
Jiachi Yang, Zhiyi Xu, Hongquan Zhang +4
Generalist robot manipulation requires a single vision-language-action (VLA) policy to execute diverse skills across scenes and instructions. However, current multi-skill VLA polic…
MEMO: Multi-Level Entity-Aware Memory for Streaming Video Understanding
Yinying Li, Yuqian Fu, Yulin Dai +3
Streaming video understanding requires models to process unbounded visual streams while preserving rich visual semantics across vast temporal horizons, posing a fundamental challen…
Spatial Temporal Synergy: Balancing Change and Invariance in Text Driven 3D Human Motion Editing
Shaohui Lin, Zhenwu Shi, Jingyu Gong +5
Text-driven human motion editing aims to modify existing motion sequences according to natural language instructions while maintaining the structural consistency of the original mo…
Omni-Supervised Motion Editing: Balancing Change and Invariance through Positive-Negative Learning
Zhenwu Shi, Jingyu Gong, Peiwei Wang +7
Text-based human motion editing aims to modify existing motion sequences according to natural language instructions while maintaining the consistency of the original motion. Existi…
Bridging the 2D-3D Gap: A Hierarchical Semantic-Geometric Map for Vision Language Navigation
Kailing Li, Tianwen Qian, Lijin Yang +4
Vision-Language Navigation (VLN) enables embodied agents to reach target locations in unseen environments by following language instructions. Despite recent progress with vision-la…
GSCompleter: A Distillation-Free Plugin for Metric-Aware 3D Gaussian Splatting Completion in Seconds
Ao Gao, Jingyu Gong, Xin Tan +3
3D Gaussian Splatting (3DGS) has revolutionized high-fidelity neural rendering with its explicit representation and efficiency. However, reconstructing scenes from sparse viewpoint…
World2Minecraft: Occupancy-Driven Simulated Scenes Construction
Lechao Zhang, Haoran Xu, Jingyu Gong +3
Embodied intelligence requires high-fidelity simulation environments to support perception and decision-making, yet existing platforms often suffer from data contamination and limi…
Memory Intelligence Agent
Jingyang Qiao, Weicheng Meng, Yu Cheng +6
Deep research agents (DRAs) integrate LLM reasoning with external tools. Memory systems enable DRAs to leverage historical experiences, which are essential for efficient reasoning…
DailyArt: Discovering Articulation from Single Static Images via Latent Dynamics
Hang Zhang, Qijian Tian, Jingyu Gong +4
Articulated objects are essential for embodied AI and world models, yet inferring their kinematics from a single closed-state image remains challenging because crucial motion cues…
S2GS: Streaming Semantic Gaussian Splatting for Online Scene Understanding and Reconstruction
Renhe Zhang, Yuyang Tan, Jingyu Gong +4
Existing offline feed-forward methods for joint scene understanding and reconstruction on long image streams often repeatedly perform global computation over an ever-growing set of…
Zero-Shot Robotic Manipulation via 3D Gaussian Splatting-Enhanced Multimodal Retrieval-Augmented Generation
Zilong Xie, Jingyu Gong, Xin Tan +2
Existing end-to-end approaches of robotic manipulation often lack generalization to unseen objects or tasks due to limited data and poor interpretability. While recent Multimodal L…
Human Motion Synthesis in 3D Scenes via Unified Scene Semantic Occupancy
Gong Jingyu, Tong Kunkun, Chen Zhuoran +5
Human motion synthesis in 3D scenes relies heavily on scene comprehension, while current methods focus mainly on scene structure but ignore the semantic understanding. In this pape…