9 papers
Learning from Failures: Retrieval-Centric CoT via Hard Negatives for Unified Multimodal Retrieval
Zelong Sun, Jun Wang, Kaicheng Yang +3
Unified multimodal retrieval aims to identify candidates that satisfy complex user intent expressed through heterogeneous inputs. Although Large Vision-Language Model (LVLM)-based…
Learning Action Priors for Cross-embodiment Robot Manipulation
Dong Jing, Tianqi Zhang, Jiaqi Liu +5
Most Vision-Language-Action (VLA) models build on a Vision-Language Model (VLM) backbone by attaching an action module and optimizing the full policy jointly. This design inherits…
TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies
Dong Jing, Jingchen Nie, Tianqi Zhang +4
Robot manipulation alternates between low-risk transit phases that call for fast execution and high-risk contact stages that demand slow, precise motion. Yet existing Vision-Langua…
Mixture of Horizons in Action Chunking
Dong Jing, Gang Wang, Jiaqi Liu +7
Vision-language-action (VLA) models have shown remarkable capabilities in robotic manipulation, but their performance is sensitive to the used during…
UniDoc-RL: Coarse-to-Fine Visual RAG with Hierarchical Actions and Dense Rewards
Jun Wang, Shuo Tan, Zelong Sun +5
Retrieval-Augmented Generation (RAG) extends Large Vision-Language Models (LVLMs) with external visual knowledge. However, existing visual RAG systems typically rely on generic ret…
STEAR: Layer-Aware Spatiotemporal Evidence Intervention for Hallucination Mitigation in Video Large Language Models
Linfeng Fan, Yuan Tian, Ziwei Li +1
Video Large Language Models (Video-LLMs) remain prone to spatiotemporal hallucinations, often generating visually unsupported details or incorrect temporal relations. Existing miti…