4 papers · 1 filter
SparkVLA: Stop-Aware Hierarchical VLA with Adaptive Action Chunking for Long-Horizon Manipulation
Xunyao Lei, Renjun Wu, Tianlin Huo +1
At every re-observation point in a hierarchical Vision-Language-Action (VLA) system, two interface decisions must be made: when to terminate the current subtask and how far to exec…
ViTaR: Visuo-Tactile Residual Adaptation for Foundation VLA Manipulation
Yi Wang, Renjun Wu, Jinyan Liu +1
As Vision-Language-Action (VLA) models scale toward real-world deployment, contact-rich manipulation exposes a critical blind spot: these policies encode broad visual-semantic prio…
GeoHAT: Geometry-Adaptive Hybrid Action Transformer for Mobile Manipulation
Xiangyu Zhu, Renjun Wu, Luzhou Ge +2
Whole-body mobile manipulation requires coordinating mobile base and manipulator under shifting viewpoints, posing challenges in geometric perception and action generation. Current…
ReMAP-DP: Reprojected Multi-view Aligned PointMaps for Diffusion Policy
Xinzhang Yang, Renjun Wu, Jinyan Liu +1
Generalist robot policies built upon 2D visual representations excel at semantic reasoning but inherently lack the explicit 3D spatial awareness required for high-precision tasks.…