6 papers
OpenViTac: Learning and Benchmarking Visuo-Tactile Policies in a Unified Sim-and-Real Framework
Yifan Wu, Qin Li, Nan Min +14
Tactile feedback provides embodied agents with physical information beyond visual observations, enabling more reliable interaction with the real world. However, despite the rapid p…
LIBERO-Agent: Evaluating General-Purpose Agents for Direct Embodied Manipulation
Zijie Diao, Yitong Chen, Sicheng Xie +7
General-purpose agents can plan, use tools, and revise their behavior from feedback, but it remains unclear whether these capabilities transfer from digital environments to embodie…
ThinkingVLA: Interleaved Vision and Language Reasoning for Robotic Manipulation
Tianyi Lu, Hui Zhang, Zijie Diao +8
Most Vision-Language-Action (VLA) models map observations directly to actions without explicit reasoning, limiting their capacity for reasoning-intensive long-horizon tasks. To add…
IDEAL: In-DEpth ALignment Makes A Discrete Representation AutoEncoder
Yitong Chen, Zijie Diao, Junke Wang +5
Built on pretrained vision foundation models (VFMs), representation autoencoders (RAEs) have recently emerged as a promising approach for constructing semantically rich latent spac…
Unify Robot Actions in Camera Frame
Sicheng Xie, Lingchen Meng, Zijie Diao +9
Cross-embodiment robot learning requires a unified action representation with consistent semantics across robot platforms. Existing representations suffer from platform-specific in…
Inference-Time Alignment Control for Diffusion Models with Reinforcement Learning Guidance
Luozhijie Jin, Zijie Qiu, Jie Liu +5
Denoising-based generative models, particularly diffusion and flow matching algorithms, have achieved remarkable success. However, aligning their output distributions with complex…