7 citations · 11 across the 9 of their papers we have counts for
10 papers
Can World and Action Modeling Benefit Each Other under Unified Causal Training?
Yue Su, Bokai Lin, Xinkai Wang +9
World and action modeling are closely related, yet their reciprocal benefits under unified causal training remain unclear. We introduce OneWM, a simple framework for unified causal…
SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation
Changyuan Wang, Chubin Zhang, Zhenyu Wu +8
Embodied visuomotor models, including Diffusion Policy (DP) and Vision-Language-Action (VLA) models, have demonstrated promising performance on robotic manipulation benchmarks. How…
CLAP: Contrastive Latent Action Pretraining for Learning Vision-Language-Action Models from Human Videos
Chubin Zhang, Jianan Wang, Zifeng Gao +5
Generalist Vision-Language-Action models remain constrained by the scarcity of robotic data relative to the abundance of human video demonstrations. Existing Latent Action Models a…
Coevolutionary Continuous Discrete Diffusion: Make Your Diffusion Language Model a Latent Reasoner
Cai Zhou, Chenxiao Yang, Yi Hu +7
Diffusion language models, especially masked discrete diffusion models, have achieved great success recently. While there are some theoretical and primary empirical results showing…
DSPv2: Improved Dense Policy for Effective and Generalizable Whole-body Mobile Manipulation
Yue Su, Chubin Zhang, Sijin Chen +4
Learning whole-body mobile manipulation via imitation is essential for generalizing robotic skills to diverse environments and complex tasks. However, this goal is hindered by sign…
Thinking With Videos: Multimodal Tool-Augmented Reinforcement Learning for Long Video Reasoning
Haoji Zhang, Xin Gu, Jiawen Li +7
The video reasoning ability of multimodal large language models (MLLMs) is crucial for downstream tasks like video question answering and temporal grounding. While recent approache…
VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning
Guanxing Lu, Wenkai Guo, Chubin Zhang +5
Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. Howeve…
GeoLRM: Geometry-Aware Large Reconstruction Model for High-Quality 3D Gaussian Generation
Chubin Zhang, Hongliang Song, Yi Wei +3
In this work, we introduce the Geometry-Aware Large Reconstruction Model (GeoLRM), an approach which can predict high-quality assets with 512k Gaussians and 21 input images in only…
OccNeRF: Advancing 3D Occupancy Prediction in LiDAR-Free Environments
Chubin Zhang, Juncheng Yan, Yi Wei +5
Occupancy prediction reconstructs 3D structures of surrounding environments. It provides detailed information for autonomous driving planning and navigation. However, most existing…
Semantic Ray: Learning a Generalizable Semantic Field with Cross-Reprojection Attention
Fangfu Liu, Chubin Zhang, Yu Zheng +1
In this paper, we aim to learn a semantic radiance field from multiple scenes that is accurate, efficient and generalizable. While most existing NeRFs target at the tasks of neural…