7 papers
SkillMemo: Expert-guided Skill Memory Framework for Compositional Embodied Manipulation
Changyuan Wang, Chubin Zhang, Zhenyu Wu +8
Embodied visuomotor models, including Diffusion Policy (DP) and Vision-Language-Action (VLA) models, have demonstrated promising performance on robotic manipulation benchmarks. How…
CLAP: Contrastive Latent Action Pretraining for Learning Vision-Language-Action Models from Human Videos
Chubin Zhang, Jianan Wang, Zifeng Gao +5
Generalist Vision-Language-Action models remain constrained by the scarcity of robotic data relative to the abundance of human video demonstrations. Existing Latent Action Models a…
Coevolutionary Continuous Discrete Diffusion: Make Your Diffusion Language Model a Latent Reasoner
Cai Zhou, Chenxiao Yang, Yi Hu +7
Diffusion language models, especially masked discrete diffusion models, have achieved great success recently. While there are some theoretical and primary empirical results showing…
DSPv2: Improved Dense Policy for Effective and Generalizable Whole-body Mobile Manipulation
Yue Su, Chubin Zhang, Sijin Chen +4
Learning whole-body mobile manipulation via imitation is essential for generalizing robotic skills to diverse environments and complex tasks. However, this goal is hindered by sign…
Thinking With Videos: Multimodal Tool-Augmented Reinforcement Learning for Long Video Reasoning
Haoji Zhang, Xin Gu, Jiawen Li +7
The video reasoning ability of multimodal large language models (MLLMs) is crucial for downstream tasks like video question answering and temporal grounding. While recent approache…
VLA-RL: Towards Masterful and General Robotic Manipulation with Scalable Reinforcement Learning
Guanxing Lu, Wenkai Guo, Chubin Zhang +5
Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. Howeve…