Author

Yiran Qin

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Preprint Oct 2026

Arm-wise Compositional Generalization in Dual-Arm Vision-Language-Action Models

Generalization in multi-arm collaboration can be studied as composing familiar atomic skills in new ways across arms. However, existing evaluations offer limited insight into which training and architectural choices support this ability under different coordination requirements. We introduce \textbf{ACG-Bench}, a bench...

Zai-Bin Zhang, Bing-Hao Ran, Yu-Han Wu et al. · 0 citations

Preprint Sep 2026

MAAP: Multi-Agent Active Perception for Collaborative Manipulation

Multi-agent manipulation naturally produces multiple task-driven viewpoints: every arm carries a wrist camera and moves through the scene while acting. Yet these observations are typically underutilized, and active perception in manipulation is still often treated as requiring a dedicated sensing agent. We introduce MA...

B. N. Chen, Li Kang, Heng Zhou et al. · 0 citations

Preprint Aug 2026

MA-VLA: Multi-Arm Vision-Language-Action Model for Collaboration and Compositional Generalization

MA-VLA decomposes cooperative behavior into mid-level atomic prompts and allocates them to individual arms, enabling explicit subgoal specification and compositional reuse across tasks and indicates that structured, per-arm atomic action assignment offers a practical route to scalable generalization in multi-arm embodi...

Zai-Bin Zhang, Jun-Lan Xiao, Zhong-Bo Zhang et al. · 4 citations