From the 1 of 6 linked papers with an AI index.
6 papers
How Should Vision-Language-Action Models Use Proprioceptive State?
Yiren Zhao, Ziyang Chen, Ziyang Rao +5
Recent Vision-Language-Action (VLA) models almost universally take robot proprioceptive state as input, yet wire it in incompatible ways -- serialized into text prompts, projected…
The Geometry of Flow-Matching Uncertainty: A Cost-free Uncertainty Proxy and Its Application in Flow-based VLA Failure Detection
Ziyang Rao, Yiren Zhao, Weiyu Guo +3
The paper interprets uncertainty in flow‑matching based action models as geometric deviation in the velocity field and proposes a cost‑free proxy called denoising acceleration that…
Source-Lifted Flow Matching for Intervenable Multimodal Imitation
He Zhang, Ying Sun, Pengteng Li +6
Flow-matching policies are promising for imitation learning because they model complex multimodal action distributions. However, their stochasticity is largely passive: repeated sa…
Towards Mechanistically Understanding Why Memorized Knowledge Fails to Generalize in Large Language Model Finetuning
Lu Dai, Ziyang Rao, Yili Wang +3
Fine-tuning LLMs to inject new knowledge faces a critical challenge: LLMs can quickly memorize new facts, yet fail to use them for downstream reasoning tasks. We formalize this fai…
LLM-Oriented Information Retrieval: A Denoising-First Perspective
Lu Dai, Liang Sun, Fanpu Cao +4
Modern information retrieval (IR) is no longer consumed primarily by humans but increasingly by large language models (LLMs) via retrieval-augmented generation (RAG) and agentic se…
RGB-Event ISP: The Dataset and Benchmark
Yunfan Lu, Yanlin Qian, Ziyang Rao +3
Event-guided imaging has received significant attention due to its potential to revolutionize instant imaging systems. However, the prior methods primarily focus on enhancing RGB i…