5 papers
Harness VLA: Steering Frozen VLAs into Reliable Manipulation Primitives via Memory-Guided Agents
Yixian Zhang, Huanming Zhang, Feng Gao +13
Language-conditioned manipulation requires both precise contact-rich control and robust reasoning over language, scenes, and long horizons. End-to-end Vision-Language-Action (VLA)…
ForcingDAS: Unified and Robust Data Assimilation via Diffusion Forcing
Yixuan Jia, Siyi Chen, Yida Pan +9
Data assimilation (DA) estimates the state of an evolving dynamical system from noisy, partial observations, and is widely used in scientific simulation as well as weather and clim…
DSSP: Diffusion State Space Policy with Full-History Encoding
Zhiyuan Guan, Jianshu Hu, Han Fang +5
Diffusion-based imitation learning has shown strong promise for robot manipulation. However, most existing policies condition only on the current observation or a short window of r…
OMP: One-step Meanflow Policy with Directional Alignment
Han Fang, Yize Huang, Yuheng Zhao +3
Robot manipulation has increasingly adopted data-driven generative policy frameworks, yet the field faces a persistent trade-off: diffusion models suffer from high inference latenc…
Generalizable Coarse-to-Fine Robot Manipulation via Language-Aligned 3D Keypoints
Jianshu Hu, Lidi Wang, Shujia Li +4
Hierarchical coarse-to-fine policy, where a coarse branch predicts a region of interest to guide a fine-grained action predictor, has demonstrated significant potential in robotic…