4 papers · 1 filter
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…
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…
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…