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Beyond Omni: A Unified MLLM for Embodied Sensory Understanding
Shiyun Xiong, Dongming Wu, Peiwen Sun +5
Recent embodied systems increasingly build on multimodal large language models (MLLMs) for their pretrained understanding and reasoning capabilities, but their perception of the ph…
Revealing Structured Heterogeneity
Christopher Turansick
In this paper, we study models of restricted heterogeneity. While the random utility model allows for arbitrary heterogeneity among rational types, we consider the case when an ana…
Vela: Scaling Vision-Language-Action Models with Adaptive Action Curve Parametrization
Yifan Li, Jiaxu Wang, Dongming Wu +4
Most vision-language-action models represent future motion as fixed-rate action chunks, tying temporal resolution and prediction horizon to a fixed output budget. This pointwise re…
-VLA: a Hierarchical Robot Foundation Model with World-Model-Guided Test-Time Computation
Xiaowei Cai, Yunuo Cai, Bingao Chen +36
Long-horizon robot manipulation requires a robot to both execute individual skills reliably and sequence them coherently over extended tasks. Most hierarchical vision-language-acti…