Genuine embodied agency requires robots to turn continuous real-world experience into lasting, transferable skills. This demands continual learning that integrates new capabilities without eroding prior knowledge as tasks and environments evolve. Experience replay mitigates forgetting, but storing complete demonstratio...
Zi-Rong Song, Zheng Lu, Hao-Ran Liao et al.· 0 citations
This work introduces Causal-Plan-Bench, a high-fidelity diagnostic suite spanning four causal dimensions, curated via multi-stage verification, and initiate the first effort to turn agents from superficial token predictors into physically grounded causal reasoners, bridging language modeling and world modeling.
Zi-Rong Song, Zheng Lu, Ming-Qi Gao et al.· 3 citations
Vision-Language-Action models and World-Action Models have advanced language-conditioned robotic manipulation, yet often leave metric relations among actions, objects, and scene geometry implicit. Human manipulation combines semantic understanding of task-relevant objects with spatial feedback that guides hand motion r...
Li-Jie Wang, Zheng Lu, Yi-Ming Wang et al.· 0 citations
Vision-Language-Action (VLA) policies leverage pretrained vision-language models (VLMs) to guide action generation for robot control. VLMs provide hierarchical visual-semantic representations that evolve across layers, from local visual geometry to abstract, language-aligned semantics; different manipulation tasks may...
Zi-Rong Song, Zheng Lu, Hao-Ran Liao et al.· 2 citations
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