4 papers
GRID-Planner: Graph-Structured Relational Reward Shaping for Diffusion Planning
Zhao Yang, Zezhong Qian, Yinan Shi +2
Autonomous driving planning requires selecting trajectories that remain safe, rule-compliant, and comfortable under complex multi-agent interactions, yet robust closed-loop decisio…
Hermite Curves as Trajectory Priors for Vision-Language-Action Models
Qi Lv, Jianming Xing, Zhao Yang +5
Despite recent progress in Vision-Language-Action (VLA) models for robotic manipulation, the action chunk remains a weakly structured interface. Existing work typically flatten eac…
ChunkFlow: Towards Continuity-Consistent Chunked Policy Learning
Zhao Yang, Yinan Shi, Mingyuan Yao +3
Vision-language action (VLA) models increasingly adopt chunked action heads to satisfy real-time constraints; however, this introduces boundary jitter: overlapping regions between…
IC-Mapper: Instance-Centric Spatio-Temporal Modeling for Online Vectorized Map Construction
Jiangtong Zhu, Zhao Yang, Yinan Shi +2
Online vector map construction based on visual data can bypass the processes of data collection, post-processing, and manual annotation required by traditional map construction, wh…