Author

Xianbiao Qi

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Preprint Oct 2026

ManiUnit: A Manipulation Skill Dataset and Benchmark for Long-Horizon Tasks

Long-horizon mobile manipulation requires a robot to navigate multi-room environments and execute a sequence of manipulation skills under a single natural language instruction. Learning and evaluating these skills present three challenges: similar observations under a fixed task instruction may make skill selection amb...

Guo-Ting Wei, Da-Wei Yan, Xia Yuan et al. · 0 citations

#artificial intelligence Preprint Aug 2026

Evolve Vision-Language-Action Model into an Agent with On-the-fly Tool-use

ART is a tool-injection framework that tunes any VLA model to leverage off-the-shelf tool modules for low-level vision, high-level affordance, and embodiment enhancement, and ART reduces the complexity of the action solution space through tool-use, which improves generalizability across different tasks but also reduces...

Ding-Ge Yi, Yanzhao Yu, Xi-Li Dai et al. · 1 citation

Preprint Aug 2026

ScaleVid: Geometry-Aware Video Object Scaling with Mesh-Free Inference

This work presents a progressive two-stage training framework that decouples geometry-aware foreground transformation from background preservation and realistic video composition, without mesh-pixel alignment and explicit 3D reconstruction at inference.

Youze Huang, Peng-Hui Ruan, Bojia Zi et al. · 0 citations