4 papers
Denoising Tells When to Replan: Denoising-Variance Adaptive Chunking for Flow-Based Robot Policies
Xiangdong Feng, Yuxuan Cheng, Chen Shi +5
Action chunking has become a common inference strategy for flow-based robot policies, improving action coherence by modeling multi-step temporal dependencies in demonstrations. How…
GeoPredict: Leveraging Predictive Kinematics and 3D Gaussian Geometry for Precise VLA Manipulation
Jingjing Qian, Boyao Han, Chen Shi +4
Vision-Language-Action (VLA) models achieve strong generalization in robotic manipulation but remain largely reactive and 2D-centric, making them unreliable in tasks that require p…
PointSLAM++: Robust Dense Neural Gaussian Point Cloud-based SLAM
Xu Wang, Boyao Han, Xiaojun Chen +2
Real-time 3D reconstruction is crucial for robotics and augmented reality, yet current simultaneous localization and mapping(SLAM) approaches often struggle to maintain structural…
Memory Forcing: Spatio-Temporal Memory for Consistent Scene Generation on Minecraft
Junchao Huang, Xinting Hu, Boyao Han +4
Autoregressive video diffusion models have proved effective for world modeling and interactive scene generation, with Minecraft gameplay as a representative application. To faithfu…