11 papers
GEAR: GEometry-motion Alternating Refinement for Articulated Object Modeling with Gaussian Splatting
Jialin Li, Bin Fu, Ruiping Wang +1
High-fidelity interactive digital assets are essential for embodied intelligence and robotic interaction, yet articulated objects remain challenging to reconstruct due to their com…
A Survey on Interpretability in Visual Recognition
Qiyang Wan, Chengzhi Gao, Ruiping Wang +1
Visual recognition models have achieved unprecedented success in various tasks. While researchers aim to understand the underlying mechanisms of these models, the growing demand fo…
From Semantics to Pixels: Coarse-to-Fine Masked Autoencoders for Hierarchical Visual Understanding
Wenzhao Xiang, Yue Wu, Hongyang Yu +3
Self-supervised visual pre-training methods face an inherent tension: contrastive learning (CL) captures global semantics but loses fine-grained detail, while masked image modeling…
RoboPCA: Pose-centered Affordance Learning from Human Demonstrations for Robot Manipulation
Zhanqi Xiao, Ruiping Wang, Xilin Chen
Understanding spatial affordances -- comprising the contact regions of object interaction and the corresponding contact poses -- is essential for robots to effectively manipulate o…
Uni-Skill: Building Self-Evolving Skill Repository for Generalizable Robotic Manipulation
Senwei Xie, Yuntian Zhang, Ruiping Wang +1
While skill-centric approaches leverage foundation models to enhance generalization in compositional tasks, they often rely on fixed skill libraries, limiting adaptability to new t…
BitVLA: 1-bit Vision-Language-Action Models for Robotics Manipulation
Hongyu Wang, Chuyan Xiong, Ruiping Wang +1
Deploying powerful Vision-Language-Action (VLA) models on edge devices is limited by their massive size. In this paper, we take a deployment-oriented view of VLA training: we targe…