Latent generative models typically follow a two-stage pipeline, training a variational autoencoder for reconstruction and then a generative model on the frozen latent space. Since reconstruction-optimized latents are not necessarily generation-friendly, jointly training both models is an appealing alternative. However,...
Guangting Zheng, Yiyuan Zhang, Tao Yang et al.· 2 citations· ⚡1
Conventional flow-based vision-language-action (VLA) models support expressive continuous action generation but rely on multi-step refinement to produce each action chunk, increasing latency in online robot control. To address this issue, we introduce DriftingVLA, a native one-step VLA that generates a complete action...
On-policy distillation (OPD) for WAMs and WAM-OPD are explored and WAM-OPD is introduced, which improves target-task performance while retaining near-initial performance on tasks excluded from adaptation.
P. Liu, Xiao-Han Lei, Shi-Qi Zhang et al.· 0 citations
ReTouch is introduced, a vision-language-action model (VLA) that supports contact-rich dexterous manipulation through tactile predictions continually refined online using execution-time feedback, and keeps tactile predictions aligned with evolving physical interactions, enabling responsive action correction and improvi...
Shi-Qi Zhang, Xin Zhang, Yedong Shen et al.· 4 citations
This work introduces ThinkAfford, which decouples high-recall affordance proposal generation from instruction-grounded reasoning and outperforming comparable 3D open-vocabulary and vision-language-model-based 2D-to-3D baselines.
Xinrui Lin, Sha Zhang, Shu-Min Wang et al.· 0 citations
RoMAN-Flow (Robotic Manipulation with Autoregressive Normalizing Flows), an offline reinforcement learning framework that makes AR-NF policies practical for robotic manipulation by addressing this sampling bottleneck in both stages.
Shao-Xuan Wang, Guangting Zheng, Rui Huang et al.· 0 citations
The experimental results validate the effectiveness of the LabDex task design and demonstration data, and show that the benchmark supports the training and systematic evaluation of existing robotic policies across laboratory dexterous manipulation tasks at different levels, providing a foundation for further research a...
Zhipeng Tang, Sihan Chen, Sha Zhang et al.· 0 citations
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