10 papers
DSDyn-VLA: A Dual-Stream Dynamic Manipulation Framework with Motion Perception, Future Awareness, and Realtime Correction
Wenhao Li, Xiu Su, Yu Han +3
While Vision-Language-Action (VLA) models excel in static tasks, they struggle in dynamic environments where objects are in motion (e.g., conveyor belt manipulation). We identify t…
Dual-Frontier: When Can an Agent Trust Its World Model?
Huatai Zhu, Qiang Chen, Ziqian Kou +5
Learned world models are becoming essential to general-purpose agents: by predicting action consequences, they support planning and decision-making while reducing reliance on costl…
LIFD: Anchored Diffusion for 3D-Aware Scene Memory in Robotic Manipulation
Wenbo Li, Yiteng Chen, Wenhao Li +1
During manipulation, robot and scene motion can move previously observed regions outside the camera's field of view. Geometry-aware RGB features encode visible structure, while con…
StateTrace: An Object-Centric Framework for Hidden-State Spatiotemporal Reasoning in Long Videos
Yu Han, Wenhao Li, Yichao Cao +4
Existing VLMs have achieved strong performance in video understanding, yet they struggle with long-video spatiotemporal reasoning when target objects become invisible, often mistak…
TACG: Trajectory-Aware Commit Gating for Diffusion Language Model Decoding
Chengcheng Wang, Tingzhang Luo, Wenhao Li +2
Diffusion language models (DLLMs) generate text by iteratively denoising masked positions, exposing a trajectory of predictive distributions rather than a single instantaneous beli…
DroneFINE: Domain-Aware Parameter-Efficient Fine-Tuning of Vision-Language Detectors for Drone Images
Ke Wu, Yanan Zhang, Yingjie Gao +5
Object detection for Unmanned Aerial Vehicles (UAVs) working in open and dynamic environments is a highly challenging task. While Vision-Language Models (VLMs) have offered a power…
VLA-ATTC: Adaptive Test-Time Compute for VLA Models with Relative Action Critic Model
Wenhao Li, Xiu Su, Yichao Cao +5
Vision-Language-Action (VLA) models have demonstrated remarkable capabilities and generalization in embodied manipulation. However, their decision-making relies on a fast, instinct…
Sentinel-VLA: A Metacognitive VLA Model with Active Status Monitoring for Dynamic Reasoning and Error Recovery
Wenhao Li, Xiu Su, Dan Niu +6
Vision-language-action (VLA) models have advanced the field of embodied manipulation by harnessing broad world knowledge and strong generalization. However, current VLA models stil…
Visual Prototype Conditioned Focal Region Generation for UAV-Based Object Detection
Wenhao Li, Zimeng Wu, Yu Wu +2
Unmanned aerial vehicle (UAV) based object detection is a critical but challenging task, when applied in dynamically changing scenarios with limited annotated training data. Layout…
Identify, Isolate, and Purge: Mitigating Hallucinations in LVLMs via Self-Evolving Distillation
Wenhao Li, Xiu Su, Jingyi Wu +5
Large Vision-Language Models (LVLMs) have demonstrated remarkable advancements in numerous areas such as multimedia. However, hallucination issues significantly limit their credibi…