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4LC: 4D Latent Cache for Efficient Conditioning in Dynamic World Modeling
Jianhui Zhang, Zuyao Lin, Pengxin Xu +2
For video generation in dynamic world modeling, observed static and dynamic content should be efficiently reused to provide conditions for repeated generation at different times an…
PINT: A Unified Model with Shared Predictive Intent for Robot Manipulation
Xinyu Guo, Chao Jing, Li Yi +2
Generalist robot manipulation can benefit from pretrained vision-language models (VLMs) for semantic reasoning and video generation models (VGMs) for world modeling. However, exist…
World-Ego Modeling for Embodied Video Generation in Long-Horizon Navigation-Manipulation Tasks
Zuyao Lin, Jianhui Zhang, Peidong Jia +4
Embodied video world models typically capture both scene evolution and the robot's behavior, which we refer to as the \emph{world} and the \emph{ego}, respectively. The world and t…
GeoHand: Unlocking Prior Geometry Knowledge for Monocular 3D Hand Reconstruction
Weiquan Lin, Yaoqing Hu, Liangchen Dai +2
Monocular 3D hand reconstruction is intrinsically a geometric problem, yet RGB appearance features alone often struggle to resolve severe ambiguities caused by self-occlusions and…
SceneParser: Hierarchical Scene Parsing for Visual Semantics Understanding
Pengxin Xu, Xincheng Lin, Luping Xiao +5
General scene perception has progressed from object recognition toward open-vocabulary grounding, part localization, and affordance prediction. Yet these capabilities are often rea…
PriorVLA: Prior-Preserving Adaptation for Vision-Language-Action Models
Xinyu Guo, Bin Xie, Wei Chai +4
Large-scale pretraining has made Vision-Language-Action (VLA) models promising foundations for generalist robot manipulation, yet adapting them to downstream tasks remains necessar…
ECHO: Continuous Hierarchical Memory for Vision-Language-Action Models
Yanbin Hu, Jin Cui, Jiayi Lu +6
Memory capacity is a critical factor determining the performance of Vision-Language-Action (VLA) models in long-horizon manipulation tasks. Existing memory-augmented architectures…