7 papers
MemOPD: On-Policy Distillation through Memory State Alignment for Long-Horizon Agents
Zhiyuan Liu, Tinghong Ye, Chenghao Liu +2
Long-horizon agents accumulate growing contexts during interaction, impairing performance and stability. Compact memory mitigates this problem by compressing and rewriting the hist…
PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking
Junnan Nie, Jiayi Li, Jiachen Zhang +5
Recent vision-language-action and diffusion-based robot policies often use action chunking, where each policy query predicts a sequence of future actions and the robot executes an…
What Frozen VLAs Already Know About Success: A Probing Study of Value-Like Structure in Foundation Robot Policies
Jiachen Zhang, Junnan Nie, Junyi Lao +4
Vision--language--action (VLA) policies are trained to imitate actions; their loss never asks them to estimate reward, progress, or future success. Their frozen representations nev…
VFEAgent: A Multimodal Agent Framework for End-to-End Automated Finite Element Analysis
Jiachen Zhang, Junyi Lao, Chenghao Liu +5
Finite Element Analysis (FEA) serves as the cornerstone of modern engineering design. However, its workflow is inherently complex and relies heavily on domain expertise. Although r…
MSNav: Zero-Shot Vision-and-Language Navigation with Dynamic Memory and LLM Spatial Reasoning
Chenghao Liu, Zhimu Zhou, Jiachen Zhang +3
Vision-and-Language Navigation (VLN) requires an agent to interpret natural language instructions and navigate complex environments. Current approaches often adopt a "black-box" pa…
TTF-VLA: Temporal Token Fusion via Pixel-Attention Integration for Vision-Language-Action Models
Chenghao Liu, Jiachen Zhang, Chengxuan Li +4
Vision-Language-Action (VLA) models process visual inputs independently at each timestep, discarding valuable temporal information inherent in robotic manipulation tasks. This fram…