4 papers
VistaVLA: Geometry- and Semantic-Aware 3D Gaussian-Grounded VLA for Robotic Manipulation
Mohan Liu, Zhihao Gu, Xuanyu Chen +5
Vision-Language-Action (VLA) models have emerged as a powerful end-to-end paradigm for robotic manipulation by mapping language instructions and 2D visual inputs directly to action…
UMSS: Towards Unsupervised Multi-modal Semantic Segmentation
Haitian Zhang, Thai Duy Nguyen, Xiangyuan Wang +2
Multimodal semantic segmentation (MSS) is essential for robust perception in complex environments, yet its potential remains largely untapped because of the prohibitive cost of hum…
Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains
Xuanyu Chen, Mohan Liu, Dengchen Mei +6
Model-free reinforcement learning has enabled impressive humanoid locomotion; however, control on steep slopes remains largely unexplored. Unlike flat or discrete terrains, sloped…
Physics-Informed Policy Optimization via Analytic Dynamics Regularization
Namai Chandra, Liu Mohan, Zhihao Gu +1
Reinforcement learning (RL) has achieved strong performance in robotic control; however, state-of-the-art policy learning methods, such as actor-critic methods, still suffer from h…