الباحثون

Yan Shen

المنشورات 2

نسخة أولية وصول مفتوح

Toward Real-Time VLAs: Stage-Aware Two-Step Flow Denoising and System-Level Evaluation

Di Wu, Rongtian Shen, Ping Liu وآخرون · 2026

Vision-language-action (VLA) models face a timing gap between low-rate inference and high-rate robot execution. We characterize this gap through end-to-end latency measurements of model inference and the robot execution chain. Repeated Flow Matching denoising contributes substantially to inference cost, while robot-sid …

نسخة أولية وصول مفتوح

BiRoAD: Learning Shared and Role-Adaptive Representations for Bimanual Manipulation

Yan Shen, Yuchen Liu, Feng Jiang وآخرون · 2026

Bimanual manipulation requires policies that coordinate two arms while adapting their functional roles to scene geometry, object configuration, and task context. Learning such scene-conditioned role adaptation remains challenging, as demonstrations may contain uneven role distributions that limit generalization to unde …

المؤلفون المشاركون

Di Wu Rongtian Shen Ping Liu Zhenhan Yin Shun Zuo Xuhua Chen He Zheng Lingfeng Zhang Jianglin Zhang Tao Zhang Yuchen Liu Feng Jiang