Vision-Language Models (VLMs) have achieved strong performance in visual perception and spatial reasoning, leading to growing interest in using them as high-level planners for embodied AI. However, physical tasks require models to integrate spatial information, reason over temporal states, and generate multi-step plans...
Jun Feng, Qin-Gan Liu, Jing-Ru Dong et al.· 0 citations
WorldGuide is a framework that combines predictive pretraining on successful and failed trajectories with contrastive learning on matched success--failure pairs and provides a differentiable reward to guide joint optimization of the policy and visual encoder.
Lin Liu, Lu Zhang, Zi-Ying Song et al.· 0 citations
GUI agents accumulate high-resolution screenshots as the trajectory unfolds, increasing inference latency and memory usage. Training-free visual token pruning can reduce this cost, but cache reuse introduces a fundamental constraint. Once tokens are discarded, the corresponding visual evidence cannot be recovered witho...
Yu-Hao Wang, Mu Qiao, Xin-Dong Zhang et al.· 0 citations
3D diffusion policies are strong at generating geometrically grounded actions from current observations, but successful manipulation requires not only knowing what motion is feasible now, but also anticipating where the interaction is heading. Existing policies largely leave such foresight to emerge implicitly from act...
Zhong-Bo Zhang, Zai-Bin Zhang, Yi-Fan Wang et al.· 0 citations
Vision-Language-Action (VLA) or World Action (WAM) models have recently demonstrated remarkable performance in robotic manipulation. On LIBERO, SOTA method have achieved nearly 100\% success rates, seemingly suggesting that the models are ready for deployment in real world. However, near perfect performance on existing...
Lin Liu, Zhi-Cheng Bao, Lu Zhang et al.· 7 citations
Generalization in multi-arm collaboration can be studied as composing familiar atomic skills in new ways across arms. However, existing evaluations offer limited insight into which training and architectural choices support this ability under different coordination requirements. We introduce \textbf{ACG-Bench}, a bench...
Zai-Bin Zhang, Bing-Hao Ran, Yu-Han Wu et al.· 0 citations
Attention-DP3 is proposed, a spatially object-aware 3D diffusion policy that injects object-level geometric cues via attention while keeping the DP3 diffusion backbone unchanged and shows consistent improvements over DP3, achieving state-of-the-art performance across benchmarks.
Chang-Bo Yan, Zhong-Bo Zhang, Zai-Bin Zhang et al.· 0 citations
MinCU is introduced, a benchmark for grounded minimal-change understanding and Semantic-Guided Implicit Spatial Anchors (SG-ISA), a structured autoregressive method that decomposes prediction into a Think-Locate-Describe sequence, suggesting that an implicit intermediate spatial interface can be more effective than rel...
Chao-Qian Mu, Wen-Hao Wu, Zi-Chen Liang et al.· 0 citations
This work proposes CARE (Corrective Atomic Robotic Execution), a framework that improves recovery by learning from failures encountered during execution, and introduces the Failure State Recovery Benchmark (FSR-Bench), which evaluates recovery from intermediate failure states under local deviations and structural anoma...
Jun-Lan Xiao, Jun-Wei Jiang, Zai-Bin Zhang et al.· 0 citations
VA-Bench is introduced to evaluate the complete observe-reason-act-revise loop and tests whether general-purpose MLLMs can turn visual demonstrations and actively acquired evidence into successful embodied action.
Zhong-Bo Zhang, Jia-Yi Jin, Yi-Fan Wang et al.· 1 citation
MA-VLA decomposes cooperative behavior into mid-level atomic prompts and allocates them to individual arms, enabling explicit subgoal specification and compositional reuse across tasks and indicates that structured, per-arm atomic action assignment offers a practical route to scalable generalization in multi-arm embodi...
Zai-Bin Zhang, Jun-Lan Xiao, Zhong-Bo Zhang et al.· 4 citations
GROVE is introduced, a training-free framework that supports both behaviors with one memory grown causally from a continuous video stream, and achieves the best results among the compared methods.
Sitong Gong, Caixin Kang, Tianyu Yan et al.· 0 citations
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