4 papers
Object-Centric Conditioning for Visuomotor Flow Matching
Jijie Li, Xu Yang, Junhong Zou +4
Robot visuomotor policies are commonly formulated as autoregressive, diffusion-based, or more recently, flow matching models. Among them, Action-to-Action (A2A) flow matching impro…
Temporal Forcing: 4D Representation Alignment for Vision-Language-Action Models
Xingyu Ding, Yuzhong Zhao, Chunhai Zhao +3
Long-horizon robotic manipulation requires vision-language-action (VLA) models to track scene states and their evolution beyond the current observation. However, simply conditionin…
Mind-VLA: Instruction-Aware Spatial Representation Alignment for Vision-Language-Action Models
Xingyu Ding, Yuzhong Zhao, Yang Wu +4
Recent Vision-Language-Action (VLA) methods improve generalization by aligning their representations with 3D scene geometry. However, these methods are fundamentally instruction-ag…
Industrial-Grade Sensor Simulation via Gaussian Splatting: A Modular Framework for Scalable Editing and Full-Stack Validation
Xianming Zeng, Sicong Du, Qifeng Chen +13
Sensor simulation is pivotal for scalable validation of autonomous driving systems, yet existing Neural Radiance Fields (NeRF) based methods face applicability and efficiency chall…