7 papers
Spatial Memory for Out-of-Vision Manipulation in Vision-Language-Action
Pengteng Li, Weiyu Guo, He Zhang +4
We introduce SOMA, the Spatial Memory framework for Out-of-Vision Manipulation in Vision-Language-Action (VLA) models. Most existing VLAs implicitly assume that task-relevant objec…
EndoCogniAgent: Closed-Loop Agentic Reasoning with Self-Consistency Validation for Endoscopic Diagnosis
Yi Tang, Kai-Ni Wang, Yang Chen +2
Endoscopic diagnosis is an iterative process in which clinicians progressively acquire, compare, and verify local visual evidence before reaching a conclusion. Current AI systems d…
A Brain-inspired Embodied Intelligence for Fluid and Fast Reflexive Robotics Control
Weiyu Guo, He Zhang, Pengteng Li +7
Recent advances in embodied intelligence have leveraged massive scaling of data and model parameters to master natural-language command following and multi-task control. In contras…
PosA-VLA: Enhancing Action Generation via Pose-Conditioned Anchor Attention
Ziwen Li, Xin Wang, Hanlue Zhang +8
The Vision-Language-Action (VLA) models have demonstrated remarkable performance on embodied tasks and shown promising potential for real-world applications. However, current VLAs…
MLLM-For3D: Adapting Multimodal Large Language Model for 3D Reasoning Segmentation
Jiaxin Huang, Runnan Chen, Ziwen Li +5
Reasoning segmentation aims to segment target objects in complex scenes based on human intent and spatial reasoning. While recent multimodal large language models (MLLMs) have demo…
SURPRISE3D: A Dataset for Spatial Understanding and Reasoning in Complex 3D Scenes
Jiaxin Huang, Ziwen Li, Hanlve Zhang +6
The integration of language and 3D perception is critical for embodied AI and robotic systems to perceive, understand, and interact with the physical world. Spatial reasoning, a ke…