9 papers
Relational Geometry Forcing for World Action Models
Yuan Xu, Yixiang Chen, Qisen Ma +10
World Action Models (WAMs) have shown strong potential for robot manipulation by jointly learning visual dynamics and executable actions. However, their video and action objectives…
What Matters for World Modeling in Vision-Language-Action Models?
Qisen Ma, Yixiang Chen, Yuan Xu +10
Integrating world models into Vision-Language-Action models (VLAs) has emerged as a promising direction, enabling policies to anticipate future dynamics beyond reactive observation…
XEWorld: Can Action-Conditioned World Models Generalize to Unseen Robot Embodiments?
Yixiang Chen, Jiabing Yang, Yuan Xu +10
Action-conditioned world models are promising learned simulators for robotic manipulation, yet evaluating them exclusively on training robots fails to reveal whether they capture p…
BridgeVLA++: A Data-Efficient, Generalizable, and Memory-Augmented Vision-Language-Action Framework for 3D Manipulation
Peiyan Li, Yuze Zhu, Yixiang Chen +10
Leveraging pre-trained vision-language models (VLMs) to construct vision-language-action (VLA) models has emerged as a promising paradigm for 3D robot manipulation. However, existi…
DIM-WAM: World-Action Modeling with Diverse Historical Event Memory
Kai Wang, Zhaopeng Gu, Yixiang Chen +7
World-action models have shown promising robot-manipulation performance by jointly predicting future visual states and actions. However, existing methods mainly rely on short-term…
SKIP: Sparse Keyframe Interpolation Paradigm for Efficient Embodied World Models
Ziheng He, Yixiang Chen, Ning Yang +11
Embodied world models have emerged as a promising paradigm in robotics by predicting how robot actions affect the surrounding scene. However, the rollout inference remains computat…
UAOR: Uncertainty-aware Observation Reinjection for Vision-Language-Action Models
Jiabing Yang, Yixiang Chen, Yuan Xu +14
Vision-Language-Action (VLA) models leverage pretrained Vision-Language Models (VLMs) as backbones to map images and instructions to actions, demonstrating remarkable potential for…
AudioMarathon: A Comprehensive Benchmark for Long-Context Audio Understanding and Efficiency in Audio LLMs
Peize He, Zichen Wen, Yubo Wang +13
Processing long-form audio is a major challenge for Large Audio Language models (LALMs). These models struggle with the quadratic cost of attention () and with modeling lon…
Prune2Drive: A Plug-and-Play Framework for Accelerating Vision-Language Models in Autonomous Driving
Minhao Xiong, Zichen Wen, Zhuangcheng Gu +9
Vision-Language Models (VLMs) have emerged as a promising paradigm in autonomous driving (AD), providing a unified framework for perception and decision-making. However, their real…