4 papers indexed
Junjie An, Yi Wu, Xiao Liu, Yiqun Zhou, Yuechen Wu, Xiaoqing Guan, et al.
End-to-end diffusion-based policies have demonstrated strong performance in mapless visual navigation, but their iterative denoising process introduces substantial inference latency, while behavior cloning limits performance to the quality of expert demonstrations. We present Nav…
Yufeng Ji, Wenhao Tang, Haoyi Niu, Koushil Sreenath, Yi Wu, Zhongyu Li
Action supervision in vision-language-action (VLA) models is often treated as a downstream objective for learning action prediction. In this paper, we study it instead as a force that shapes inherited multimodal representations. We show that this shaping has a dual effect: it is…
Yi Wu, Junjie An, Xiao Liu, Yiqun Zhou, Yuechen Wu, Xiaoqing Guan, et al.
In goal-directed embodied navigation, where an agent must locate a specified target in an unseen environment, 3D scene understanding and navigation reasoning must work in concert. Current approaches transmit 3D scene information to vision-language models (VLMs) through text, sugg…
Huaijie Wang, Shusheng Xu, Yi Wu, Kaifeng Lyu
A key step toward artificial general intelligence is to train models that can perform multiple tasks. In this paper, we study how to build such models by first training separate RL experts for individual tasks and then consolidating them via distillation, as an alternative to dir…