10 papers
LM-X: Explainable Vision--Language--Action Modeling via Progress, Event, and Uncertainty Prediction
Jin Lou, Zhiyuan Jing, Xupeng Wang +21
Large-scale vision--language--action (VLA) policies have advanced generalist robot control, yet most remain stimulus-to-action black boxes: actions are exposed, but their explanato…
MemCatalyst: Amplifying Data Auditing on Vision-Language Models via Data Poisoning
Xukun Luan, Jinyan Liu, Yuhui Gong +4
Vision-Language models (VLMs) achieve outstanding performance largely due to the amount of training data available on the internet. At the same time, data holders (e.g., artists) u…
ViTaR: Visuo-Tactile Residual Adaptation for Foundation VLA Manipulation
Yi Wang, Renjun Wu, Jinyan Liu +1
As Vision-Language-Action (VLA) models scale toward real-world deployment, contact-rich manipulation exposes a critical blind spot: these policies encode broad visual-semantic prio…
Code-Poisoning Property Inference Attacks
Xukun Luan, Yuhui Gong, Gang Zhang +4
The flourishing code hosting platforms and coding agents enable even beginners with private data to build tailored Machine Learning (ML) models using available code quickly. The tr…
VLALeaks: Membership Inference Attacks against Vision-Language-Action Models
Xukun Luan, Jinyan Liu, Xuesong Li +4
Vision-Language-Action (VLA) models enable end-to-end robot control and have garnered widespread attention. However, the memorization of training data inherent to VLA, coupled with…
GeoHAT: Geometry-Adaptive Hybrid Action Transformer for Mobile Manipulation
Xiangyu Zhu, Renjun Wu, Luzhou Ge +2
Whole-body mobile manipulation requires coordinating mobile base and manipulator under shifting viewpoints, posing challenges in geometric perception and action generation. Current…
DGSG-Mind: Dynamic 3D Gaussian Scene Graphs for Long-Term Scene Understanding and Grounding
Luzhou Ge, Xiangyu Zhu, Jinyan Liu +1
Integrating open-vocabulary semantic information into dynamic 3D scene representations is essential for long-term embodied scene understanding. However, existing methods often suff…
ReMAP-DP: Reprojected Multi-view Aligned PointMaps for Diffusion Policy
Xinzhang Yang, Renjun Wu, Jinyan Liu +1
Generalist robot policies built upon 2D visual representations excel at semantic reasoning but inherently lack the explicit 3D spatial awareness required for high-precision tasks.…
KungfuAthleteBot: Learning High-Dynamic Motion from Videos with Unified Robust Recovery
Zhongxiang Lei, Lulu Cao, Xuyang Wang +3
Learning highly dynamic motions from video provides a scalable alternative to expensive data collection for humanoid robots, yet it is challenged by height floating, missing kinema…
Prompt-Guided Dual-Path UNet with Mamba for Medical Image Segmentation
Shaolei Zhang, Jinyan Liu, Tianyi Qian +1
Convolutional neural networks (CNNs) and transformers are widely employed in constructing UNet architectures for medical image segmentation tasks. However, CNNs struggle to model l…