Author

Han-Ning Dong

3 papers indexed here

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Preprint Oct 2026

GeoMem-VLA: Internalizing 3D Scene Understanding into Temporal Memory for Vision-Language-Action Models

Geometric structure is essential for robotic manipulation and understanding the 3D world. Most VLA models rely on 2D representations of current observations, while geometry-aware approaches often require additional 3D information. However, geometry inferred independently from individual observations is often discarded...

Qin-Fang Zhang, Yi-Fan Luo, Hao-Yuan Shi et al. · 1 citation

#artificial intelligence Preprint Sep 2026

Pelican-Sim 1.0: A General World Model Simulator for Embodied Intelligence

In this technical report, we propose Pelican-Sim 1.0, a general world model simulator for embodied intelligence that predicts future observations from visual context and robot actions to support downstream learning and decision making. The model incorporates four key design features: (1) Unified action representation:...

Shi-Long Zou, Shi-Lin Zhang, Yingji Zhang et al. · 1 citation

#artificial intelligence May 2026

VLA-Trace: Diagnosing Vision-Language-Action Models through Representation and Behavior Tracing

VLA-Trace is presented, a progressive diagnostic framework that analyzes VLA models through a unified evidence chain from representation dynamics to causal control attribution and behavioral manifestation to highlight future directions for representation-preserving adaptation, causal VLA circuits, and compositional sem...

Haoyuan Shi, Xian-Cong Ren, Yingji Zhang et al. · arXiv.org · 3 citations