6 papers
VLA-GSE: Boosting Parameter-Efficient Fine-Tuning in VLA with Generalized and Specialized Experts
Yuhua Jiang, Junjie Lu, Xinyao Qin +4
Vision-language-action (VLA) models inherit rich visual-semantic priors from pre-trained vision-language backbones, but adapting them to robotic control remains challenging. Full f…
CKT-WAM: Parameter-Efficient Context Knowledge Transfer Between World Action Models
Yuhua Jiang, Yijun Guo, Hongbing Yang +7
World action models (WAMs) provide a powerful generative framework for embodied control, yet transferring knowledge across heterogeneous WAMs remains challenging due to mismatched…
AsyncVLA: Asynchronous Flow Matching for Vision-Language-Action Models
Yuhua Jiang, Shuang Cheng, Yan Ding +2
Vision-language-action (VLA) models have recently emerged as a powerful paradigm for building generalist robots. However, traditional VLA models that generate actions through flow…
Nirvana: A Specialized Generalist Model With Task-Aware Memory Mechanism
Yuhua Jiang, Shuang Cheng, Yihao Liu +7
Large Language Models (LLMs) excel at general language tasks but struggle in specialized domains. Specialized Generalist Models (SGMs) address this by preserving broad capabilities…
Electromagnetic Property Sensing Based on Diffusion Model in ISAC System
Yuhua Jiang, Feifei Gao, Shi Jin +1
Integrated sensing and communications (ISAC) has opened up numerous game-changing opportunities for future wireless systems. In this paper, we develop a novel ISAC scheme that util…
Electromagnetic Property Sensing in ISAC with Multiple Base Stations: Algorithm, Pilot Design, and Performance Analysis
Yuhua Jiang, Feifei Gao, Shi Jin +1
Integrated sensing and communication (ISAC) has opened up numerous game-changing opportunities for future wireless systems. In this paper, we develop a novel scheme that utilizes o…