4 papers
DSDyn-VLA: A Dual-Stream Dynamic Manipulation Framework with Motion Perception, Future Awareness, and Realtime Correction
Wenhao Li, Xiu Su, Yu Han +3
While Vision-Language-Action (VLA) models excel in static tasks, they struggle in dynamic environments where objects are in motion (e.g., conveyor belt manipulation). We identify t…
StateTrace: An Object-Centric Framework for Hidden-State Spatiotemporal Reasoning in Long Videos
Yu Han, Wenhao Li, Yichao Cao +4
Existing VLMs have achieved strong performance in video understanding, yet they struggle with long-video spatiotemporal reasoning when target objects become invisible, often mistak…
VLA-ATTC: Adaptive Test-Time Compute for VLA Models with Relative Action Critic Model
Wenhao Li, Xiu Su, Yichao Cao +5
Vision-Language-Action (VLA) models have demonstrated remarkable capabilities and generalization in embodied manipulation. However, their decision-making relies on a fast, instinct…
Sentinel-VLA: A Metacognitive VLA Model with Active Status Monitoring for Dynamic Reasoning and Error Recovery
Wenhao Li, Xiu Su, Dan Niu +6
Vision-language-action (VLA) models have advanced the field of embodied manipulation by harnessing broad world knowledge and strong generalization. However, current VLA models stil…