11 papers
Hierarchical Defense in Leader-Defender-Attacker Games: Nested Equilibria and Receding-Horizon Control
Honglei Guo, Hanfang Zhang, Guochuan Zhang +1
We formulate a discrete-time leader-defender-attacker game that combines hierarchical interaction within a protective group with competition against an external attacker. The leade…
ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics
Kentaro Uno, Warley F. R. Ribeiro, Yusuke Koizumi +4
This paper presents an open-sourced MATLAB simulation and analysis platform dedicated to legged climbing robots. This simulator enables the design of any limbed robotic system as a…
XS-VLA: Teaching Tiny Vision-Language-Action Models with Spatial Supervision and Demonstration Conditioning
Iok Tong Lei, Ying Jie Yap, Wei Huang +5
How can richer training supervision improve robot control while keeping the deployed policy compact? We present XS-VLA, a staged training framework using teacher-derived spatial la…
ACE: Agentic Control for Embodied Manipulation via Zero-shot Workflow Reasoning
Iok Tong Lei, QianZhi Li, Ying Jie Yap +5
General-purpose manipulation requires both semantic reasoning over task constraints and reliable execution of contact-rich actions. We present ACE, an agentic manipulation harness…
OpenSPM: An Environment-Transferable Robotic Key Spatial Pose Memory and Closed-Loop High-Frequency Flow-Matching Action Generation Model
Iok Tong Lei, Qingchen Xie, Yifan Wang +2
Open-environment tabletop robotic manipulation requires systems to possess semantic understanding, precise geometric pose estimation, and high-frequency action generation. While en…
PointVG-R: Internalizing Geometric Reasoning in MLLMs for Precise Pointing Localization via Visual Chain of Thought
Ling Li, Bowen Liu, Zinuo Zhan +5
Pointing-based visual grounding requires models to precisely locate target objects by deciphering complex spatial relationships between the visual scene and pointing gestures. Trad…
VistaRef: Boosting Visual Spatial Orientation Awareness for Pointing-to-Object Detection
Ling Li, Zhizhen Cai, Xinkun Wu +4
Grounding deictic gestures in natural images is fundamental to AR and human-robot collaboration, providing a basis for seamless spatial interaction. While Transformer-based visual…
From Sparse to Dense: Spatio-Temporal Fusion for Multi-View 3D Human Pose Estimation with DenseWarper
Ling Li, Changjie Chen, Yuyan Wang +4
In multi-view 3D human pose estimation, models typically rely on images captured simultaneously from different camera views to predict a pose at a specific moment. While providing…
Beyond Language: Grounding Referring Expressions with Hand Pointing in Egocentric Vision
Ling Li, Bowen Liu, Zinuo Zhan +4
Traditional Visual Grounding (VG) predominantly relies on textual descriptions to localize objects, a paradigm that inherently struggles with linguistic ambiguity and often ignores…
Move to Understand a 3D Scene: Bridging Visual Grounding and Exploration for Efficient and Versatile Embodied Navigation
Ziyu Zhu, Xilin Wang, Yixuan Li +9
Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world.…
Unifying 3D Vision-Language Understanding via Promptable Queries
Ziyu Zhu, Zhuofan Zhang, Xiaojian Ma +6
A unified model for 3D vision-language (3D-VL) understanding is expected to take various scene representations and perform a wide range of tasks in a 3D scene. However, a considera…