12 papers
DEGround: An Effective Baseline for Ego-centric 3D Visual Grounding with a Homogeneous Framework
Yani Zhang, Dongming Wu, Hao Shi +3
A core task in embodied intelligence is ego-centric 3D visual grounding. Existing methods typically adopt two-stage, heterogeneous pipelines that pair a detector with a separate gr…
OneLatent: Single-Token Compression for Visual Latent Reasoning
Bo Lv, Yasheng Sun, Junjie Wang +1
Chain-of-thought (CoT) prompting improves reasoning but often increases inference cost by one to two orders of magnitude. To address these challenges, we present \textbf{OneLatent}…
MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulation
Hao Shi, Bin Xie, Yingfei Liu +7
Temporal context is essential for robotic manipulation because such tasks are inherently non-Markovian, yet mainstream VLA models typically overlook it and struggle with long-horiz…
ExoGS: A 4D Real-to-Sim-to-Real Framework for Scalable Manipulation Data Collection
Yiming Wang, Ruogu Zhang, Minyang Li +7
Real-to-Sim-to-Real technique is gaining increasing interest for robotic manipulation, as it can generate scalable data in simulation while having narrower sim-to-real gap. However…
SpatialActor: Exploring Disentangled Spatial Representations for Robust Robotic Manipulation
Hao Shi, Bin Xie, Yingfei Liu +5
Robotic manipulation requires precise spatial understanding to interact with objects in the real world. Point-based methods suffer from sparse sampling, leading to the loss of fine…
Dexbotic: Open-Source Vision-Language-Action Toolbox
Bin Xie, Erjin Zhou, Fan Jia +36
In this paper, we present Dexbotic, an open-source Vision-Language-Action (VLA) model toolbox based on PyTorch. It aims to provide a one-stop VLA research service for professionals…