4 papers
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…
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.…
Motion-Focused Latent Action Enables Cross-Embodiment VLA Training from Human EgoVideos
Runze Xu, Yiluo Zhang, Jian Wang +2
Training generalist Vision-Language-Action(VLA) models typically requires massive, diverse robotic datasets with high-fidelity action annotations. While egocentric human manipulati…
ManipArena: Comprehensive Real-world Evaluation of Reasoning-Oriented Generalist Robot Manipulation
Yu Sun, Meng Cao, Yang Ping +24
Vision-Language-Action (VLA) models and world-action models have emerged as central paradigms for general-purpose robotic intelligence, yet their empirical progress remains constra…