4 papers
ChainVLA: Chaining Vision-Language-Action Queries through a Unified Execution State for Long-Horizon Manipulation
Yuzhi Huang, Weijue Bu, Ziyi Xiong +4
Humans perform long-horizon manipulation by retaining knowledge of what earlier actions have established while continuously adapting the motion underway. By contrast, action-chunke…
DynTrace: Tracking Dynamic Object Evidence for 4D Spatio-Temporal Reasoning in MLLMs
Rongxin Gao, Yuzhi Huang, Dongxuan Liu +8
4D spatio-temporal reasoning, jointly modeling 3D spatial structure and temporal evolution, is essential for understanding dynamic worlds and enabling embodied interaction. While c…
RoboStream: Weaving Spatio-Temporal Reasoning with Memory in Vision-Language Models for Robotics
Yuzhi Huang, Jie Wu, Weijue Bu +9
Enabling reliable long-horizon robotic manipulation is a crucial step toward open-world embodied intelligence. However, VLM-based planners treat each step as an isolated observatio…
Thinking in Dynamics: How Multimodal Large Language Models Perceive, Track, and Reason Dynamics in Physical 4D World
Yuzhi Huang, Kairun Wen, Rongxin Gao +14
Humans inhabit a physical 4D world where geometric structure and semantic content evolve over time, constituting a dynamic 4D reality (spatial with temporal dimension). While curre…