3 papers
cs.RO2026
RoboDrop: Curating VLA Post-Training Data via Local Gradient Compatibility
Runze Xu, Yuanfan Xu, Cuijie Xu +4
Vision--language--action (VLA) models acquire broad generalization through large-scale pretraining, yet adapting them to a new task and robot embodiment still requires post-trainin…
cs.RO2026
Knowing When to Stop: Adaptive Action Chunking via Internal Cross-Attention Dynamics in VLAs
Runze Xu, Xiaolong Shan, Shuang Dai +2
Action chunking is a standard execution strategy in modern Vision-Language-Action (VLA) frameworks, but fixed execution horizons impose a trade-off between efficiency and accuracy.…
cs.RO2025
ArtiSG: Functional 3D Scene Graph Construction via Human-demonstrated Articulated Objects Manipulation
Qiuyi Gu, Yuze Sheng, Jincheng Yu +7
3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection,…