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Author

Shijian Lu

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#artificial intelligence Preprint Sep 2026

CodeActionBench: Evaluating Agentic Code-as-Policy for Embodied Manipulation

How well can general-purpose multimodal models turn visual understanding and reasoning into embodied manipulation via executable code? We introduce CodeActionBench, a benchmark of 25 manipulation tasks that evaluates this capability through agentic Code-as-Policy. Without task-specific fine-tuning, demonstrations, exte...

Yiheng Lyu, Xueying Jiang, Wen-Hao Li et al. · 0 citations
Jul 2026

3D-Aware VLMs with Implicit and Explicit Geometries

Despite rapid progress, most existing vision-language models (VLMs) built from 2D visual inputs often struggle when handling various 3D tasks that require fine-grained spatial understanding and reasoning. To bridge this gap, we present VLM-IE3D, a unified framework that enhances the 3D spatial awareness of VLMs by equi...

Wenhao Li, Xueying Jiang, Quanhao Qian et al. · 0 citations

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