9 papers
ChunkAct: Action Chunking for Agentic Robotics
Bingxin Xu, Wenrui Bao, Xinxin Liu +3
Agentic robotics places a large language model (LLM) agent in the robot control loop, where it composes perception, motion, and vision-language-action (VLA) tools under the guidanc…
Recursive Video In-Context Learning for Agentic Robot
Wenrui Bao, Xinxin Liu, Bingxin Xu +1
LLM agents that orchestrate frozen vision-language-action (VLA) policies improve across episodes through text memory, which records what the agent did but not how the task is done.…
DeltaWAM: Change-Centric Visual Foresight via Delta Tokens for an Efficient World-Action Model
Tianyun Jiang, Wenrui Bao, Bingxin Xu +2
World-Action Models (WAMs) offer visual foresight for robotic manipulation, but pixel-space models repeatedly reconstruct entire future scenes, incurring high computational cost an…
Coding Agents with Harness for Safe Robot Control
Bingxin Xu, Yuzhang Shang, Zhen Dong +1
Coding agents have emerged as a promising paradigm for robot manipulation: a language model writes the robot controller as a program, and agents built in this way now operate robot…
Don't Drop the BATON: Long-Horizon Robot Manipulation via Agentic Subtask Exploration and Transition-aware Memory
Bingxin Xu, Yuzhang Shang, Emilio Ferrara
Long-horizon robot manipulation chains many contact-rich skills into one multi-stage task. Vision-language-action (VLA) and world-action models (WAMs) increasingly master individua…
Surgical WAM: A World-Action Model for Data-Efficient Surgical Robot Learning
Wenrui Bao, Tianyun Jiang, Zhiben Chen +3
Learning reliable surgical manipulation policies is bottlenecked by the scarcity of action-labeled demonstrations: teleoperated surgical robot (e.g., dVRK) trajectories with synchr…
VLA-Thinker: Boosting Vision-Language-Action Models through Thinking-with-Image Reasoning
Chaoyang Wang, Wenrui Bao, Sicheng Gao +5
Vision-Language-Action (VLA) models have shown promising capabilities for embodied intelligence, but most existing approaches rely on text-based chain-of-thought reasoning where vi…
SilentDrift: Exploiting Action Chunking for Stealthy Backdoor Attacks on Vision-Language-Action Models
Bingxin Xu, Yuzhang Shang, Binghui Wang +1
Vision-Language-Action (VLA) models are increasingly deployed in safety-critical robotic applications, yet their security vulnerabilities remain underexplored. We identify a fundam…
ButterflyQuant: Ultra-low-bit LLM Quantization through Learnable Orthogonal Butterfly Transforms
Bingxin Xu, Zhen Dong, Oussama Elachqar +1
Large language models require massive memory footprints, severely limiting deployment on consumer hardware. Quantization reduces memory through lower numerical precision, but extre…