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Author

Lei Zhang

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Preprint Sep 2026

Dyn-3D: Unveiling and Resolving Ego-Motion Ambiguity in Vision-Language Models

This work introduces Dyn-3D, a benchmark using counterfactual 3D rendering to rigorously decouple visual changes from true kinematic properties and proposes the TempoVista framework, featuring the Kinematic-GSPO algorithm.

Jiayu Ding, Zhuo-Dong Liu, Lei Zhang et al. · 0 citations
Preprint Jul 2026

SIEVE: Structure-Aware Data Selection for Imitation Learning with VLA Models

SIEVE, a structure-aware data selection method for VLA imitation learning that can surpass full-data training while using only 50% of demonstrations and 50% of training steps, suggests that reusable structure, captured through primitives and transitions, is an important signal for efficient VLA imitation learning.

Changti Wu, Bin Yu, Zhaolong Shen et al. · 1 citation

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