4 papers · 1 filter
AutoPruner: Agentic Depth Pruning for Vision-Language-Action Models
Tao Lin, Yikeng Chen, Qiwei Liang +3
Layer pruning reduces the size and inference cost of vision-language-action (VLA) models, but selecting a deployable configuration requires deciding both which layers to remove and…
Action-Effect Memory Pretraining for Robot Manipulation
Yijing Zhou, Qiwei Liang, Sitong Zhuang +5
We present AEM, an Action-Effect Memory pretraining framework for robot manipulation that learns compact temporal representations from vision-action history. Unlike prior robot rep…
Beyond Viewpoint Generalization: What Multi-View Demonstrations Offer and How to Synthesize Them for Robot Manipulation?
Boyang Cai, Qiwei Liang, Jiawei Li +11
Does multi-view demonstration truly improve robot manipulation, or merely enhance cross-view robustness? We present a systematic study quantifying the performance gains, scaling be…
Bootstrap Dynamic-Aware 3D Visual Representation for Scalable Robot Learning
Qiwei Liang, Boyang Cai, Minghao Lai +6
Despite strong results on recognition and segmentation, current 3D visual pre-training methods often underperform on robotic manipulation. We attribute this gap to two factors: the…