4 papers
GOPI: Generation-Oriented 3D Pose Inference for Furniture Insertion from Single-View RGB-D Indoor Scenes
Ruifeng Zhai, Renjie Liu, Guangrun Wang +1
We study the problem of inserting new furniture into indoor scene images. Under masked single-view 2D image-plane conditioning, however, the physical scale of the inserted furnitur…
TAG: Target-Agnostic Guidance for Stable Object-Centric Inference in Vision-Language-Action Models
Jiaying Zhou, Zhihao Zhan, Ruifeng Zhai +5
Vision--Language--Action (VLA) policies have shown strong progress in mapping language instructions and visual observations to robotic actions, yet their reliability degrades in cl…
VLA Models Are More Generalizable Than You Think: Revisiting Physical and Spatial Modeling
Weiqi Li, Quande Zhang, Ruifeng Zhai +2
Vision-language-action (VLA) models achieve strong in-distribution performance but degrade sharply under novel camera viewpoints and visual perturbations. We show that this brittle…
E0: Enhancing Generalization and Fine-Grained Control in VLA Models via Tweedie Discrete Diffusion
Zhihao Zhan, Jiaying Zhou, Likui Zhang +10
Vision-Language-Action (VLA) models offer a unified framework for robotic manipulation by integrating visual perception, language understanding, and control generation. However, ex…