6 papers
MemOPD: On-Policy Distillation through Memory State Alignment for Long-Horizon Agents
Zhiyuan Liu, Tinghong Ye, Chenghao Liu +2
Long-horizon agents accumulate growing contexts during interaction, impairing performance and stability. Compact memory mitigates this problem by compressing and rewriting the hist…
PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking
Junnan Nie, Jiayi Li, Jiachen Zhang +5
Recent vision-language-action and diffusion-based robot policies often use action chunking, where each policy query predicts a sequence of future actions and the robot executes an…
VFEAgent: A Multimodal Agent Framework for End-to-End Automated Finite Element Analysis
Jiachen Zhang, Junyi Lao, Chenghao Liu +5
Finite Element Analysis (FEA) serves as the cornerstone of modern engineering design. However, its workflow is inherently complex and relies heavily on domain expertise. Although r…
What Frozen VLAs Already Know About Success: A Probing Study of Value-Like Structure in Foundation Robot Policies
Jiachen Zhang, Junnan Nie, Junyi Lao +4
Vision--language--action (VLA) policies are trained to imitate actions; their loss never asks them to estimate reward, progress, or future success. Their frozen representations nev…
TTF-VLA: Temporal Token Fusion via Pixel-Attention Integration for Vision-Language-Action Models
Chenghao Liu, Jiachen Zhang, Chengxuan Li +4
Vision-Language-Action (VLA) models process visual inputs independently at each timestep, discarding valuable temporal information inherent in robotic manipulation tasks. This fram…
MSNav: Zero-Shot Vision-and-Language Navigation with Dynamic Memory and LLM Spatial Reasoning
Chenghao Liu, Zhimu Zhou, Jiachen Zhang +3
Vision-and-Language Navigation (VLN) requires an agent to interpret natural language instructions and navigate complex environments. Current approaches often adopt a "black-box" pa…