4 papers
LIRA: Local Cross-Layer Information Routing for Vision-Language-Action Decoding
Zhewei Zhang, Puyue Wang, Guanren Qiao +10
Vision-Language-Action (VLA) models transform representations from pretrained vision-language models (VLMs) into robot actions, yet the interface that routes intermediate VLM featu…
HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation
Puyue Wang, Jiawei Hu, Yan Gao +7
Humanoid robots can suffer significant performance drops under small changes in dynamics, task specifications, or environment setup. We propose HoRD, a two-stage learning framework…
Lifelong Domain Adaptive 3D Human Pose Estimation
Qucheng Peng, Hongfei Xue, Pu Wang +1
3D Human Pose Estimation (3D HPE) is vital in various applications, from person re-identification and action recognition to virtual reality. However, the reliance on annotated 3D d…
Exploiting Aggregation and Segregation of Representations for Domain Adaptive Human Pose Estimation
Qucheng Peng, Ce Zheng, Zhengming Ding +2
Human pose estimation (HPE) has received increasing attention recently due to its wide application in motion analysis, virtual reality, healthcare, etc. However, it suffers from th…