2 papers
cs.AI2026
X-Planner: Event-Structured Task Planning for Embodied Intelligence
Howard Lu, Shalfun Li, Porter Pan +30
Task planning bridges high-level instructions and executable behavior in long-horizon manipulation, yet modern Vision-Language-Action (VLA) systems often leave this intermediate st…
cs.CV2026
Do Vision Transformers Need All-to-All Attention? Global Communication Through Elastic Learned Cores
Alan Z. Song, Yinjie Chen, Mu Nan +8
Vision Transformers (ViTs) learn rich visual-semantic representations through all-to-all self-attention among patch tokens. However, this design implicitly assumes that direct pair…