11 papers · 1 filter
Hermite Curves as Trajectory Priors for Vision-Language-Action Models
Qi Lv, Jianming Xing, Zhao Yang +5
Despite recent progress in Vision-Language-Action (VLA) models for robotic manipulation, the action chunk remains a weakly structured interface. Existing work typically flatten eac…
Beyond Waypoints: A Trajectory-Centric Waypointing Paradigm for Vision-Language Navigation
Haoxiang Shi, Xiang Deng, Haoyu Zhang +3
Vision-Language Navigation in Continuous Environments (VLN-CE) requires agents to follow natural-language instructions while navigating in real-world-like environments. Most VLN-CE…
STAR: Learning Diverse Robot Skill Abstractions through Rotation-Augmented Vector Quantization
Hao Li, Qi Lv, Rui Shao +4
Transforming complex actions into discrete skill abstractions has demonstrated strong potential for robotic manipulation. Existing approaches mainly leverage latent variable models…
Cortical Policy: A Dual-Stream View Transformer for Robotic Manipulation
Xuening Zhang, Qi Lv, Xiang Deng +3
View transformers process multi-view observations to predict actions and have shown impressive performance in robotic manipulation. Existing methods typically extract static visual…
EnergyAction: Unimanual to Bimanual Composition with Energy-Based Models
Mingchen Song, Xiang Deng, Jie Wei +3
Recent advances in unimanual manipulation policies have achieved remarkable success across diverse robotic tasks through abundant training data and well-established model architect…
F1: A Vision-Language-Action Model Bridging Understanding and Generation to Actions
Qi Lv, Weijie Kong, Hao Li +7
Executing language-conditioned tasks in dynamic visual environments remains a central challenge in embodied AI. Existing Vision-Language-Action (VLA) models predominantly adopt rea…