4 papers · 1 filter
MaskVLA: Visual Masking Against Trajectory Overfitting of Vision-Language-Action Model
Yuxuan Jiang, Jiaying Huang, Ge Wang +9
Vision-Language-Action (VLA) models integrate vision-language understanding with executable robot actions, enabling end-to-end learning for robot control. However, our empirical an…
MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency
Jiahao Yang, Shenhao Yan, Fan Feng +5
Inverse kinematics (IK) remains a critical bottleneck for real-time robot manipulation. Classical numerical solvers achieve high geometric precision but often suffer from discontin…
Acting While Understanding: Asynchronous Semantic-Action Decoupling for Real-Time Vision-Language-Action Models
Shenhao Yan, Ge Wang, Qi Liu +7
Vision-Language-Action models (VLAs) have demonstrated strong task understanding and generalization in robotic manipulation, yet the high computational cost of full-model inference…
SVLL: Staged Vision-Language Learning for Physically Grounded Embodied Task Planning
Yuyuan Yang, Junkun Hong, Hongrong Wang +11
Embodied task planning demands vision-language models to generate action sequences that are both visually grounded and causally coherent over time. However, existing training parad…