16 papers
EA-Nav: Learning Safe Visual Navigation Policies with Embodiment Awareness
Jialu Zhang, Yong Du, Xianda Guo +6
Cross-embodiment navigation is a key challenge in embodied intelligence. Due to differences in embodiment, the same visual observation may imply different actions for different age…
SkillNav: Score-Level Skill Intervention for Zero-Shot Object Goal Navigation
Ruijie Sang, Yiqun Duan, Pinhan Fu +3
Vision-Language Model (VLM) agents have advanced zero-shot object-goal navigation, yet single-frame reasoning leaves them without the cross-step behavioral awareness an embodied na…
X-Lens: Real-Time Metric Depth Estimation with Heterogeneous Cameras
Heng Zhou, Shuhong Liu, Yonghao He +6
X-Lens is a compact feed‑forward model that estimates metric depth in real time from a mix of calibrated fisheye and pinhole camera views using geometry‑aware calibration tokens an…
TrustVLA: Mechanism-Guided Inference-Time Defense Against Vision-Language-Action Backdoors
Pinhan Fu, Xianda Guo, Xuetao Li +5
The paper introduces TrustVLA, an inference-time defense that detects and mitigates visual backdoor triggers in vision‑language‑action models by monitoring epistemic uncertainty an…
TabletopGen: Tabletop Scene Generation and Interactive Simulation for Robotic Manipulation
Ziqian Wang, Yonghao He, Licheng Yang +6
Simulation provides a low-cost, scalable pathway to large-scale robotic manipulation data collection. However, existing 3D scene generation methods can rarely be applied directly t…
dVLA-RL: Reinforcement Learning over Denoising Trajectories for Discrete Diffusion Vision-Language-Action Models
Yuhao Wu, Yitian Liu, Weijie Shen +13
Vision-Language-Action (VLA) models have established a powerful paradigm for generalist robotic manipulation by grounding control into the semantic reasoning of VLMs. Prevailing ar…