From the 1 of 8 linked papers with an AI index.
8 papers
CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation
Yushan Liu, Peibo Sun, Xintao Chao +8
The paper introduces CheckVLA, a system that uses a frozen action‑conditioned world model to verify and intervene during long‑horizon mobile manipulation when execution deviates fr…
PerceptDrive: Perception Prior World-Action Modeling with Adaptive Expert Routing for End-to-End Autonomous Driving
Yushan Liu, Tianxiong Lv, Bohua Wang +11
Frozen perception foundation models encode rich geometric, semantic, and dynamic knowledge. Yet narrow conditioning interfaces may attenuate task-relevant cues, while static fusion…
ForgeDrive: Bidirectional Cross-Conditioning for Unified Visual-Action Generation in Autonomous Driving
Xuchang Zhong, He Zheng, Chenxu Zhao +9
World-model-based autonomous driving endows the model with the ability to understand scene evolution. Yet this promise is undermined by the prevailing imagine-then-act paradigm, wh…
Self-Supervised Mask-Aware Transformers for Fault-Tolerant FBG Force Sensing in Minimally Invasive Surgical Robotics
Peibo Sun, Shiyuan Dong, Shucheng Ye +5
In minimally invasive surgical robotics, catheter-scale Fiber Bragg Grating (FBG) sensors are promising due to their ability to estimate multi-dimensional forces by multiplexing se…
OA-WAM: Object-Addressable World Action Model for Robust Robot Manipulation
Yushan Liu, Peibo Sun, Shoujie Li +7
World Action Models (WAMs) enhance Vision-Language-Action policies by jointly predicting scene evolution and robot actions, but existing methods usually represent the predicted wor…
FUTURE-VLA: Forecasting Unified Trajectories Under Real-time Execution
Jingjing Fan, Yushan Liu, Shoujie Li +5
General vision-language models increasingly support unified spatiotemporal reasoning over long video streams, yet deploying such capabilities on robots remains constrained by the p…