5 accepted papers
Generating realistic hand-object interactions (HOI) videos is a significant challenge due to the difficulty of modeling physical constraints (e.g., contact and occlusion between hands and manipulated objects). Current methods utilize HOI representation as an auxiliary generative objective to guide v
Vision-Language-Action (VLA) models have emerged as a generalist robotic agent. However, existing VLAs are hindered by excessive parameter scales, prohibitive pre-training requirements, and limited applicability to diverse embodiments. To improve the practicality of VLAs, we propose a comprehensive …
Vision-Language-Action (VLA) models, such as OpenVLA, hold the promise of generalist robots, yet their performance is often impaired by distracted attention, which we identify as a manifestation of shortcut learning. We posit that the solution lies not in architectural modifications, but in a new tr…
Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The performance of VLA models can be improved by integrating with action chunking, a critical technique for effective control. However, action chunking linearly scales up action dimensions in
"We present Structured Neural Radiance Field (Structured-NeRF) for indoor scene representaion based on a novel hierarchical scene graph structure to organize the neural radiance field. Existing object-centric methods focus only on the inherent characteristics of objects, while overlooking the semant…