5 papers · 1 filter
OVIP-SG: Open-Vocabulary Instance-Preserving Scene Graphs for Mapping and Retrieval of Small, Fine-Grained Objects
Tianjing Hao, Haiyu Lan, Angsong Li +6
Integrating open-vocabulary perception into object-level 3D scene graphs is a double-edged sword. While vision-language detectors recover long-tail categories and small, fine-grain…
TemporalFlow-VLA: Learning Physically Grounded Execution History for Long-Horizon Robot Manipulation
Jiarui Yang, Yehao Lu, Yuning Su +9
Vision-language-action (VLA) models leverage pretrained vision-language representations for robot control, yet simply adding historical frames does not reliably capture recent phys…
StructRL: Structured Action-Space Exploration for Flow-Based VLAs
Jiarui Yang, Bin Zhu, Jingjing Chen +4
Flow-based Vision-Language-Action (VLA) models are now widely used for continuous robotic manipulation, and online reinforcement learning (RL) is emerging as a key technique for ad…
In-Context VLA: Endowing Vision-Language-Action Models with Language via In-Context Post-Training and Agentic Tool Use
Jiarui Yang, Wen Huang, Jiale Zhang +2
Vision-Language-Action (VLA) models have become the dominant recipe for generalist manipulation, yet they are almost universally trained by behavior cloning: a policy imitates expe…
Multi-View Unified Camera Fields: Geometry-Shaped Action-Facing Representations for RGB-Only Multi-Camera VLA Policies
Jiarui Yang, Yehao Lu, Yuning Su +9
Vision-Language-Action (VLA) models have shown strong generalization in robotic manipulation, yet complex contact-rich tasks often benefit from multi-camera observations that joint…