11 papers
Wiring Matters: Injection Topology and Initialization of Affordance Heads in Vision-Language-Action Policies
Zijian An, Linhan Wang, Jiayan Wang +4
Dense affordance supervision is an appealing auxiliary signal for vision-language-action (VLA) policies, yet naively co-training an affordance head can severely damage instruction…
GlanceWAM: Sparse Test-Time Imagination for World-Action Models
Linhan Wang, Zijian An, Mingyuan Zhang +8
Video generative models provide rich physical priors for robot learning, yet existing world-action models (WAMs) face a fundamental trade-off: synchronous video generation at contr…
Threading Optimization for Vision-Language-Action Model Inference in Low-Cost Smart Agricultural Manipulation
Keith Truongcao, Christopher Nhu, Zijian An +3
Vision-Language Action (VLA) models continue to face challenges such as slow inference speed and difficulty performing fine-grained motion adjustments, limiting their widespread ad…
ROG-Grasp: Root-Oriented Geometry for Robotic Grasping and Placement
Zijian An, Augustus Sroka, Ran Yang +8
Orientation-aware manipulation is essential in post-harvest agricultural processing, where produce must be grasped and placed in consistent configurations. This paper presents ROG-…
VILAS: A VLA-Integrated Low-cost Architecture with Soft Grasping for Robotic Manipulation
Zijian An, Hadi Khezam, Bill Cai +5
We present VILAS, a fully low-cost, modular robotic manipulation platform designed to support end-to-end vision-language-action (VLA) policy learning and deployment on accessible h…
SeqVLA: Sequential Task Execution for Long-Horizon Manipulation with Completion-Aware Vision-Language-Action Model
Ran Yang, Zijian An, Lifeng ZHou +1
Long-horizon robotic manipulation tasks require executing multiple interdependent subtasks in strict sequence, where errors in detecting subtask completion can cascade into downstr…
Vision Language Models Cannot Plan, but Can They Formalize?
Muyu He, Yuxi Zheng, Yuchen Liu +7
The advancement of vision language models (VLMs) has empowered embodied agents to accomplish simple multimodal planning tasks, but not long-horizon ones requiring long sequences of…
CLAW: A Vision-Language-Action Framework for Weight-Aware Robotic Grasping
Zijian An, Ran Yang, Yiming Feng +1
Vision-language-action (VLA) models have recently emerged as a promising paradigm for robotic control, enabling end-to-end policies that ground natural language instructions into v…
Reinforcement Learning for Game-Theoretic Resource Allocation on Graphs
Zijian An, Lifeng Zhou
Game-theoretic resource allocation on graphs (GRAG) involves two players competing over multiple steps to control nodes of interest on a graph, a problem modeled as a multi-step Co…
Large Language Models for Multi-Robot Systems: A Survey
Peihan Li, Zijian An, Shams Abrar +1
The rapid advancement of Large Language Models (LLMs) has opened new possibilities in Multi-Robot Systems (MRS), enabling enhanced communication, task allocation and planning, and…
Double Oracle Algorithm for Game-Theoretic Robot Allocation on Graphs
Zijian An, Lifeng Zhou
We study the problem of game-theoretic robot allocation where two players strategically allocate robots to compete for multiple sites of interest. Robots possess offensive or defen…