10 papers · 1 filter
GOPI: Generation-Oriented 3D Pose Inference for Furniture Insertion from Single-View RGB-D Indoor Scenes
Ruifeng Zhai, Renjie Liu, Guangrun Wang +1
We study the problem of inserting new furniture into indoor scene images. Under masked single-view 2D image-plane conditioning, however, the physical scale of the inserted furnitur…
SVR: Self-Verifying Refinement via Joint Verdict-Confidence Reinforcement Learning for Adaptive Test-Time Compute
Hongyu Chen, Liang Lin, Guangrun Wang
Scaling test-time computation can improve language-model reasoning, but uniform budgets waste computation on easy inputs, while verifier-guided refinement relies on external feedba…
Learning Physics from Pretrained Video Models: A Multimodal Continuous and Sequential World Interaction Models for Robotic Manipulation
Zijian Song, Qichang Li, Sihan Qin +4
The scarcity of large-scale robotic data has motivated the repurposing of foundation models from other modalities for policy learning. In this work, we introduce PhysGen (Learning…
Learning Spatial-Temporal Coherent Correlations for Speech-Preserving Facial Expression Manipulation
Tianshui Chen, Jianman Lin, Zhijing Yang +3
Speech-preserving facial expression manipulation (SPFEM) aims to modify facial emotions while meticulously maintaining the mouth animation associated with spoken content. Current w…
Robotic Manipulation is Vision-to-Geometry Mapping: Vision-Geometry Backbones over Language and Video Models
Zijian Song, Qichang Li, Jiawei Zhou +4
At its core, robotic manipulation is a problem of vision-to-geometry mapping (). Physical actions are fundamentally defined by geometric properties like 3D posi…
OOWM: Structuring Embodied Reasoning and Planning via Object-Oriented Programmatic World Modeling
Hongyu Chen, Liang Lin, Guangrun Wang
Standard Chain-of-Thought (CoT) prompting empowers Large Language Models (LLMs) with reasoning capabilities, yet its reliance on linear natural language is inherently insufficient…
TAG: Target-Agnostic Guidance for Stable Object-Centric Inference in Vision-Language-Action Models
Jiaying Zhou, Zhihao Zhan, Ruifeng Zhai +5
Vision--Language--Action (VLA) policies have shown strong progress in mapping language instructions and visual observations to robotic actions, yet their reliability degrades in cl…
RADAR: Benchmarking Vision-Language-Action Generalization via Real-World Dynamics, Spatial-Physical Intelligence, and Autonomous Evaluation
Yuhao Chen, Zhihao Zhan, Xiaoxin Lin +11
VLA models have achieved remarkable progress in embodied intelligence; however, their evaluation remains largely confined to simulations or highly constrained real-world settings.…
Bridging the Discrete-Continuous Gap: Unified Multimodal Generation via Coupled Manifold Discrete Absorbing Diffusion
Yuanfeng Xu, Yuhao Chen, Liang Lin +1
The bifurcation of generative modeling into autoregressive approaches for discrete data (text) and diffusion approaches for continuous data (images) hinders the development of trul…
Stable Language Guidance for Vision-Language-Action Models
Zhihao Zhan, Yuhao Chen, Jiaying Zhou +5
Vision-Language-Action (VLA) models have demonstrated impressive capabilities in generalized robotic control; however, they remain notoriously brittle to linguistic perturbations.…