Authors

Yongchao Chen

Publications 2

Preprint Open access

AffordCraft: Scalable Construction of Task-Ready Simulation Assets from Single Images

Haoyun Yang, Xueyang Zhou, Ziyi Xie et al. · 2026

Robot learning in simulation depends on the objects the simulator offers. Many tasks need objects with separate parts, joints that allow the required motion, and physical properties that remain valid under contact. Existing methods recover this structure anew for every image: generative models predict parts and joints …

Preprint Open access

SCOPD: Sparse-Context On-Policy Self-Distillation for Efficient Vision-Language Models

Ahmadreza Jeddi, Enming Zhang, Jasper Gerigk et al. · 2026

Reasoning vision-language models (VLMs) process images and videos as long sequences of visual tokens, making inference expensive. Training-free token pruning reduces this cost, but aggressive compression can sharply degrade performance, often attributed to irreversible loss of task-relevant visual information. We show …

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