6 papers
Gluing Local Contexts into Global Meaning: A Sheaf-Theoretic Decomposition of Transformer Representations
Bryce Grant, Peng Wang
Existing interpretability tools do not test whether a representation keeps the same content when only the phrasing changes. We treat each paraphrase pair as a local witness that tw…
Correcting WHERE, Preserving HOW: Compositional Generalization for Vision-Language-Action Models via Referential Guidance
Yanyan Zhang, Disheng Liu, Xinpeng Li +8
While Vision-Language-Action (VLA) models enable flexible action generation, their generalization across diverse environmental elements, including manipulated objects, destinations…
Sequential Planning via Anchored Robotic Keypoints
Bryce Grant, Aryeh Rothenberg, Logan Senning +3
Changes in a robot's observations do not automatically imply changes in the task it is solving, but language-conditioned manipulation systems often fail to separate the two. If an…
TrianguLang: Geometry-Aware Semantic Consensus for Pose-Free 3D Localization
Bryce Grant, Aryeh Rothenberg, Atri Banerjee +1
Localizing objects and parts from natural language in 3D space is essential for robotics, AR, and embodied AI, yet existing methods face a trade-off between the accuracy and geomet…
Not All Features Are Created Equal: A Mechanistic Study of Vision-Language-Action Models
Bryce Grant, Xijia Zhao, Peng Wang
A fine-tuned Vision-Language-Action (VLA) policy can easily place the alphabet soup in the basket on command, just as it saw during fine-tuning. However, if the basket is shifted f…
Quaternion Approximation Networks for Enhanced Image Classification and Oriented Object Detection
Bryce Grant, Peng Wang
This paper introduces Quaternion Approximate Networks (QUAN), a novel deep learning framework that leverages quaternion algebra for rotation equivariant image classification and ob…