11 papers
LAST: Bridging Vision-Language and Action Manifolds via Gromov-Wasserstein Alignment
Huaihai Lyu, Chaofan Chen, Yuheng Ji +4
We take a Gromov-Wasserstein perspective on Vision-Language-Action (VLA) learning, where the goal is to make the relational geometry of action representations compatible with the s…
General Covariant Action Modeling: Constructing Generalized Manifolds via Spatio-Temporal Decoupling
Huaihai Lyu, Chaofan Chen, Mingyu Cao +2
Achieving robust generalization from limited data is a central challenge in embodied intelligence. Prevailing methods fail by regressing absolute coordinates, which violates the pr…
RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation
Shihan Wu, Xuecheng Liu, Shaoxuan Xie +81
Despite the critical role of bimanual manipulation in endowing robots with human-like dexterity, large-scale and diverse datasets remain scarce due to the significant hardware hete…
PRM-as-a-Judge: A Dense Evaluation Paradigm for Fine-Grained Robotic Auditing
Yuheng Ji, Yuyang Liu, Huajie Tan +15
Current robotic evaluation is still largely dominated by binary success rates, which collapse rich execution processes into a single outcome and obscure critical qualities such as…
RoboOS-NeXT: A Unified Memory-based Framework for Lifelong, Scalable, and Robust Multi-Robot Collaboration
Huajie Tan, Cheng Chi, Xiansheng Chen +21
The proliferation of collaborative robots across diverse tasks and embodiments presents a central challenge: achieving lifelong adaptability, scalable coordination, and robust sche…
OmniSAT: Compact Action Token, Faster Auto Regression
Huaihai Lyu, Chaofan Chen, Senwei Xie +4
Existing Vision-Language-Action (VLA) models can be broadly categorized into diffusion-based and auto-regressive (AR) approaches: diffusion models capture continuous action distrib…