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Huchuan Lu

Publications and source records attributed to Huchuan Lu.

At least 19 recordsLinked to original sources
arXiv2026

UCON: Uncertainty-aware Navigation with Historical Re-association in Dynamic Environments

Autonomous navigation in dynamic environments is hindered by two fundamental challenges: perception instability and uncertainty-optimization mismatch. The former leads to identity switches and unreliable motion estimation, while the latter prevents principled incorporation of motion uncertainty into trajectory optimization. To address these challenges, we propose UCON, an uncertainty-aware navigation algorithm in dynamic environments. For perception instability, we present a point-level historical re-association mechanism that leverages historical point cloud fragments to recover lost targets while maintaining identity continuity. Subsequently, a Kalman filter is employed to provide anisotropic motion state estimation and covariance propagation. To resolve the uncertainty-optimization mismatch, we transform predicted states and their covariances into uncertainty sectors, which are embedded as differentiable cost terms within a trajectory optimization framework. This achieves consistent uncertainty-aware dynamic obstacle avoidance while maintaining smoothness and feasibility. Extensive simulations and real-world experiments demonstrate that, while maintaining high computational efficiency, UCON achieves superior perception stability and robust navigation performance in dynamic environments compared to state-of-the-art methods. The code will be open-sourced to facilitate further research.

cs.RO↗
arXiv2026

CARE: Experience-Guided Atomic Corrective Execution for Vision-Language-Action Policies

Vision-Language-Action (VLA) policies achieve strong performance in robotic manipulation but remain brittle once execution deviates from nominal trajectories. We propose CARE (Corrective Atomic Robotic Execution), a framework that improves recovery by learning from failures encountered during execution. Instead of generating corrective data from manually designed or random perturbations, CARE collects failed rollouts, models stage-conditioned post-failure deviations, and uses the resulting empirical distributions to synthesize representative failure states and corrective demonstrations. At inference time, CARE combines stage-wise planning with physically grounded 3D monitoring to trigger atomic adjustments or re-operations while preserving task progress. We further introduce the Failure State Recovery Benchmark (FSR-Bench), which evaluates recovery from intermediate failure states under local deviations and structural anomalies. Experiments across multiple VLA backbones, simulation benchmarks, and real-world dual-arm tasks show consistent improvements, with average task-success gains of 14.5 points in simulation and 15.9 points in the real world. Code, models, and data are available at https://github.com/xiaojunlan/care

cs.RO↗
arXiv2026

MinCU: A Fine-Grained Benchmark for Grounded Minimal-Change Understanding in Image Pairs

Localizing and describing fine-grained differences between near-identical images is a critical yet underexplored capability for multimodal large language models (MLLMs). Existing benchmarks largely assess semantic comparison or single-image grounding in isolation, without jointly requiring faithful description and physical localization. To bridge this gap, we introduce MinCU, a benchmark for grounded minimal-change understanding, where each sample consists of an image pair differing by a single atomic variation in object category, attribute, count, or spatial position, and models are evaluated on their ability to describe the change, localize the changed regions, and identify the changed entity. We further propose Semantic-Guided Implicit Spatial Anchors (SG-ISA), a structured autoregressive method that decomposes prediction into a Think-Locate-Describe sequence. SG-ISA first predicts a semantic cue for the changed concept, then uses discrete spatial anchors as an implicit localization scaffold, and finally generates the change description together with the grounding box. Experiments reveal that even the strongest closed-source MLLMs and recent R1-style reasoning models struggle on MinCU, with most failing to jointly produce accurate descriptions and grounding boxes. Compared to the previous chain-of-thought method, fine-tuning with SG-ISA yields substantial joint improvements in grounding accuracy and description quality while reducing reasoning-token overhead by approximately 26%. These results suggest that an implicit intermediate spatial interface can be more effective than relying solely on model scale for grounded dual-image understanding.

cs.CV↗
arXiv2026

Learning to Track from Privileged Target Appearances

Target templates define what a visual tracker searches for, yet the templates available at inference trade off localization certainty with appearance freshness: the initial ground-truth template is exact but becomes stale, whereas recent templates better reflect the current appearance but are cropped from uncertain predictions. We quantify this bottleneck with a non-deployable oracle that supplies an exact current-frame target crop, improving AUC on LaSOT by 15.2 percentage points. This gap reveals a training-only opportunity: frame-level ground truths provide exact current- and future-frame target crops, although such crops are unavailable at deployment. We introduce Privileged Appearance Transfer for Tracking (PATT), a teacher-student training framework that transfers these privileged appearances to a deployable tracker through multi-level representation prediction. The privileged teacher observes exact target crops from past, current, and future frames, whereas the student receives only past-frame templates and learns to predict the teacher's search representations. To avoid transferring unreliable teacher signals, PATT weights this transfer by the teacher's relative localization advantage over the student and its absolute localization accuracy. After training, the teacher, latent predictor, reliability weights, and privileged crops are removed, leaving standard student-only inference. Across seven benchmarks at two model scales, PATT achieves consistent gains under both long- and short-term tracking protocols.

cs.CV↗
arXiv2026

VABench: Measuring Embodied Spatial Intelligence through Visual Demonstrations, Active Perception, and Metric Control

Spatial intelligence requires more than describing object locations. Under incomplete observation, models must identify and acquire missing evidence, interpret it in a common spatial frame, and act on it. We introduce VA-Bench to evaluate the complete observe-reason-act-revise loop. General-purpose MLLMs learn procedural context from RGB-only demonstrations, actively select camera viewpoints, issue metric Cartesian commands, and revise them from execution feedback. Models receive no privileged object poses, oracle trajectories, or learned action heads. A fixed model-agnostic controller executes only model-specified targets. VA-Bench contains 14 base task families (11 single-arm and three dual-arm), seven held-out geometry/layout variants, and a long-horizon five-object composition track. We evaluate 12 primary model conditions in three independent runs over the same 20 physically verified seeds per base task, reporting terminal success, nine trajectory-level behavioral diagnostics, and subtask progress. First, the best-performing model scores 100.0% on target localization and 78.9% on spatial relations in the annotated run. Its three-run macro-average task success is only 53.93+/-3.17%. Second, active camera control significantly improves task success over passive multi-view observation. In one matched comparison, success rises from 27.86% to 57.50%. Third, held-out geometric transfer can reduce task success by over 30 percentage points. No model completes a strict long-horizon episode, despite substantial partial progress. VA-Bench thus tests whether general-purpose MLLMs can turn visual demonstrations and actively acquired evidence into successful embodied action.

cs.RO↗
arXiv2026

Learning Foresight without Explicit Trajectories for 3D Diffusion Policies

3D diffusion policies are strong at generating geometrically grounded actions from current observations, but successful manipulation requires not only knowing what motion is feasible now, but also anticipating where the interaction is heading. Existing policies largely leave such foresight to emerge implicitly from action learning. We introduce Movement Trend Guidance, a simple but effective way to provide this foresight without introducing an explicit plan. From a short observation history, the policy learns a compact latent representation of interaction evolution. During training, sparse future gripper states supervise this representation; at inference, only the latent is retained as future-oriented conditioning alongside the current observation. The latent provides global conditioning for action generation, while an additional gated FiLM branch is used only at the UNet bottleneck. Despite adding only 3.52% more parameters to DP3, our method preserves the original dense-action and receding-horizon formulation and consistently improves upon DP3 across RoboTwin2.0, LIBERO-40, and DexArt. It reaches 62.8% vs. 56.1% in 50-task RoboTwin2.0 mixed training, 71.93% vs. 37.08% on LIBERO-40, and 72.0% vs. 49.0% on five real-robot tasks. These results show that a diffusion policy can benefit substantially from knowing where an interaction is heading, without being told exactly where to move.

cs.RO↗
arXiv2026

Mem-World: Memory-Augmented Action-Conditioned World Models for Persistent Robot Manipulation

Action-conditioned world models have emerged as a promising paradigm for robot learning, offering a scalable alternative to costly real-world experimentation by generating action-consistent video rollouts. However, persistent world modeling remains challenging in manipulation: frequent end-effector occlusions and rapid wrist-camera motion make the current observation insufficient for predicting future views, causing models to forget or hallucinate scene details seen in earlier frames. Existing memory retrieval strategies often fail to identify informative history in dynamic manipulation scenarios. To address this limitation, we propose Mem-World, a memory-augmented multi-view action-conditioned world model. At its core, we present W-VMem, a 4D wrist-view-centered surfel-indexed memory that anchors historical observations to temporally evolving surface elements. By explicitly modeling when and where scene elements are observed, W-VMem enables geometry-aware retrieval of relevant history frames conditioned on future actions. During generation, relevant history frames are selected via surfel-based rendering and scoring, providing informative and non-redundant context for prediction. Extensive experiments show that Mem-World generates persistent rollouts in complex manipulation scenarios, enables more reliable policy evaluation than Ctrl-World, improving the Pearson correlation with real-world performance by 14.5\%, and supports effective policy improvement through synthetic data generation, increasing success rates from 58\% to 72\% on long-horizon tasks.

cs.CV↗
arXiv2026

LIBERO-RECOVER: Beyond Task Success Towards Failure Recovery in Robotic Manipulation Models

Vision-Language-Action (VLA) or World Action (WAM) models have recently demonstrated remarkable performance in robotic manipulation. On LIBERO, SOTA method have achieved nearly 100\% success rates, seemingly suggesting that the models are ready for deployment in real world. However, near perfect performance on existing benchmarks can be misleading: success under ideal conditions does not imply real world robustness. Existing benchmarks primarily evaluate task completion from predefined initial states, while real world interactions inevitably involve failures such as failed grasps, collisions, and unintended object movements. A robot must therefore not only execute tasks successfully, but also recognize and recover from failures to continue the task. Yet this capability remains largely unmeasured, revealing a critical gap between benchmark performance and real world reliability. To address this gap, we introduce LIBERO-Recover Benchmark, a large scale benchmark for failure recovery in robotic manipulation. Built upon LIBERO, we collect real execution failures from SOTA embodied models and construct 1,000+ scenarios across four recovery levels: (1) Action Retry, (2) Action Adaptation, (3) Object State Recovery, and (4) Environmental Recovery. We evaluate four core capabilities: spatial understanding, object structure reasoning, interaction understanding, and topological reasoning. As the first large-scale benchmark for embodied failure recovery, LIBERO-Recover shifts evaluation from \emph{Can the robot succeed?''} to \emph{Can the robot recover after failure?''}, promoting robust and generalizable embodied agents. The project will be avaible in \textcolor{blue}{https://liulin815.github.io/LIBERO-Recovery/}.

cs.RO↗
arXiv2026

Attention-DP3: Spatially Object-aware 3D Diffusion Policy via Geometry-aligned Attentional Conditioning

3D point-cloud observations are inherently ambiguous in complex, cluttered manipulation scenes, where target objects may be partially occluded or tightly intermingled with visually similar distractors. As a result, standard 3D diffusion policies often struggle to localize and exploit task-relevant geometry as scene complexity grows. We propose \textbf{Attention-DP3}, a spatially object-aware 3D diffusion policy that injects object-level geometric cues via attention while keeping the DP3 diffusion backbone unchanged. Our pipeline performs open-vocabulary 2D segmentation on RGB images, then lifts predicted target masks into 3D using calibrated camera geometry to obtain object-centric geometric priors. We incorporate these cues through Tri-field Attentional Conditioning, which constructs three complementary fields: (i) a targetness field to anchor the target object, (ii) an intra-target saliency field to emphasize task-relevant geometry within the target, and (iii) a backgroundness field to suppress distractors and clutter. Experiments on Adroit, DexArt, MetaWorld, and the real-world SO101 platform show consistent improvements over DP3, achieving state-of-the-art performance across benchmarks. Notably, as distractor objects increase, DP3 drops sharply, whereas Attention-DP3 remains stable and outperforms DP3 by up to 31\% under heavy clutter. The code is publicly available at https://github.com/zhangzhongbo2213/Attention-DP3.

cs.RO↗
arXiv2026

TRACE: Trajectory-robust Admission with Evidence Ordering for Efficient GUI Agents

GUI agents accumulate high-resolution screenshots as the trajectory unfolds, increasing inference latency and memory usage. Training-free visual token pruning can reduce this cost, but cache reuse introduces a fundamental constraint. Once tokens are discarded, the corresponding visual evidence cannot be recovered without re-encoding. Pruning therefore becomes an \textit{irreversible admission decision} that must remain useful for unknown future targets while preserving coverage of operable regions under tight budgets. To address these challenges, we propose \textbf{\method{}}, a training-free framework for \emph{\textbf{T}rajectory-\textbf{r}obust \textbf{A}dmission and \textbf{C}overage-aware \textbf{E}vidence ordering}. Specifically, we combine a query-independent layout-derived interaction prior with instruction relevance and feature novelty to rank visual evidence according to both potential future utility and diversity. Then, we reserve part of the budget for native visual tokens distributed across the screen, repairing missing spatial coverage without breaking the ordering. Together, these mechanisms produce a nested token order, allowing retained visual evidence to shrink monotonically across budgets while remaining reusable throughout the trajectory. Finally, our monotone KV contraction incrementally contracts retired frames into compact session state, avoiding repeated visual encoding or pruning. Extensive experiments across six GUI benchmarks and diverse models verify the effectiveness of our proposed \method{} under tight budgets. The source code will be released.

cs.CV↗
arXiv2026

Think3D: Thinking with Space for Spatial Reasoning

While Vision-Language Models (VLMs) excel at 2D visual understanding, they remain constrained by 2D-centric paradigm that severely limits genuine 3D spatial reasoning. To bridge this gap, we introduce Think3D, a novel framework that equips VLM agents with interactive, 3D chain-of-thought reasoning capabilities. By integrating a suite of 3D manipulation tools, Think3D transforms perception into active spatial exploration, mirroring human geometric reasoning. Think3D consistently improves proprietary models, including GPT-4.1 and Gemini 2.5 Pro, across BLINK Multi-view, MindCube-1K, and VSI-Bench-Tiny. We further propose Think3D-RL to teach smaller open-weight models how to manipulate 3D space effectively. Using only final-answer rewards, without process supervision or handcrafted exploration trajectories, Think3D-RL enables Qwen3-VL-4B to autonomously learn effective 3D exploration strategies. After training, the model exhibits tool-use patterns similar to those of stronger proprietary models, while shifting the effect of 3D tool use on MindCube-1K from a performance drop to a substantial improvement. These results show that active exploration in 3D space provides an effective and general paradigm for improving spatial reasoning in multimodal agents. Code, models, and data are available at https://github.com/zhangzaibin/spagent.

cs.CV↗
arXiv2026

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

Multi-arm collaboration is becoming a core capability in embodied manipulation. Recent vision-language-action (VLA) models integrate perception, language, and control, but most represent language as a single global instruction and do not provide an explicit mechanism for assigning and composing arm-specific behaviors. This design limits transfer to collaboration patterns that differ from those observed during training. We present MA-VLA, a unified framework for multi-arm collaboration via atomic action assignment. 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. To reduce reliance on fixed execution roles, we introduce Arm Shuffle, a training-time permutation of the observation, state, and assigned atomic prompts for each arm. This permutation enforces role-agnostic instruction following and supports recomposition into unseen coordination patterns, which we term multi-arm compositional generalization. We also construct a benchmark in which test-time collaboration patterns are absent in training set. Across simulation and real-world evaluations, prior state-of-the-art VLAs largely fail under these unseen collaborations, while MA-VLA consistently succeeds. These results indicate that structured, per-arm atomic action assignment offers a practical route to scalable generalization in multi-arm embodied systems. Code, models, and data are available at https://github.com/zhangzaibin/future-robots

cs.RO↗
arXiv2026

Paths: Prompt-aware Spatio-temporal Transformer with Hierarchical Multi-modal Fusion for RGB-Event Video Person Re-Identification

RGB-Event Video Person Re-Identification (RE-VReID) aims to retrieve specific person across non-overlapping cameras with complementary RGB videos and event streams. However, existing methods often decouple spatial and temporal modeling, which limits their interaction. In addition, global-level RGB-Event fusion fails to fully exploit fine-grained discriminative cues. To address these issues, we propose Paths, a unified framework with spatio-temporal modeling and hierarchical multi-modal fusion for RE-VReID. Specifically, we first design a Memory-Augmented Backbone (MAB) to maintain modality-specific identity prototypes for stable intra-modal representation learning. Then, we propose a Prompt-aware Spatio-temporal Transformer (PST) to jointly model spatial and temporal cues within a unified Transformer. Finally, we introduce a Hierarchical Multi-modal Fusion (HMF) to integrate RGB and event features at global and local levels. With these modules, our framework can learn robust and discriminative representations for RE-VReID. Extensive experiments on three public RE-VReID benchmarks including EvReID, MARS and iLIDS-VID, demonstrate the effectiveness of our proposed method. The code is available at https://github.com/Reflection0427/Paths.

cs.CV↗
arXiv2026

SAMOT: State-Aware Step Modulation and Optimal Transport Matching for Audio-Visual Instance Segmentation

Audio-Visual Instance Segmentation (AVIS) aims to simultaneously classify, segment, and track sounding objects within video sequences. Unlike Audio-Visual Semantic Segmentation (AVS), AVIS involves instance-level modeling across longer video sequences, introducing two key challenges: (1) complex modality-state changes disrupt long-range modeling, and (2) substantial structural and distributional discrepancies between modalities hinder precise instance-level association. Existing methods rely on fixed-step Transformers and recursive Mamba models, lacking adaptability to modality-state changes. In addition, methods performing implicit matching ignore the inherent distributional inconsistencies. To address these issues, we propose a framework with Adaptive Dynamic Step Modulation (ADSM) and Optimal Transport-based Matching Modulation (OT-MM). ADSM adaptively modulates Mamba step sizes using temporal variation, cross-modal discrepancy, and historical context, balancing rapid response to modality-state changes with stable long-range modeling. OT-MM explicitly formulates instance-level cross-modal matching as an entropy-regularized optimal transport problem solved via log-domain Sinkhorn iterations, and further enforces distribution-level coherence with an MMD regularizer. Extensive experiments demonstrate state-of-the-art performance on the AVIS benchmark (+3.76 FSLA, +2.75 HOTA, +2.58 mAP), verified through comprehensive qualitative visualizations. The code and model are available at https://github.com/happylife-pk/SAMOT.

cs.MM↗
arXiv2026

AnyTrack: Unifying Visual Object Tracking with Any Modalities

Visual object tracking aims to continuously locate specific targets within sequential frames, evolving from single-modal methods to multi-modal ones. However, existing multi-modal trackers are typically designed for fixed modality combinations, requiring separate models for different inputs. This leads to a poor adaptability to missing or imperfect modalities, and limited generalization. To address these issues, we propose a novel unified framework called AnyTrack for object tracking with any modalities. Specifically, we design a Modality-aware Interaction Module (MIM) to facilitate dynamic interaction across diverse modalities. This module bridges modality discrepancies and aggregates temporal cues to maintain spatio-temporal consistency during cross-modal interaction. Furthermore, we introduce a Context Understanding Module (CUM) to establish spatial correspondence between visual features and target locations via global-local prompts. This module employs target-aware context modeling to enhance foreground-background discrimination for precise localization. Finally, to support the training and evaluation under diverse modalities, we extend existing multi-modal object tracking benchmarks by incorporating grayscale images, language descriptions, and audio clips. Extensive experiments with both complete and missing modality settings demonstrate that our AnyTrack achieves state-of-the-art performance, validating its effectiveness and flexibility. The source code is available at https://github.com/IdolLab/AnyTrack.

cs.CV↗
arXiv2026

GROVE: Growing and Reasoning over Temporally Stratified Memory from Streaming Video Experience

A wearable assistant should both answer questions about its visual history and recognize when that history is useful to the present situation. Existing video-memory systems primarily support question-conditioned recall, whereas proactive assistants typically use separate memory and control mechanisms. We introduce GROVE, a training-free framework that supports both behaviors with one memory grown causally from a continuous video stream. GROVE retains fine-grained perceptual evidence and incrementally consolidates it into time-stamped moments, coherent episodes, and recurring cross-day patterns. Each stratum is paired with a scale-native retrieval skill for locating an observation, replaying an activity, or traversing long-range regularities. Reactive QA and proactive assistance share this memory and access interface, differing in whether retrieval is initiated by a user query or the current situation. Across multiple benchmarks including the challenging MM-lifelong and EgoServe, GROVE achieves the best results among the compared methods. Controlled ablations show that the temporal strata and their access skills are complementary, with patterns providing the largest benefit when evidence spans multiple days. Code will be available at https://github.com/SitongGong/GROVE.

cs.CV↗
arXiv2026

Hear to See: Discerning Stateful Listening for Audio-Visual Instance Segmentation

Audio-visual instance segmentation (AVIS) requires accurately identifying and tracking individual sounding objects with pixel-level masks. Existing methods struggle to match overlapping acoustic events with visual instances and handle asynchronous audio-visual dynamics. Therefore, two critical questions arise: how can a model establish precise correspondence between overlapping sound sources and visual instances, and how can a model maintain robust tracking when audio and visual signals are temporally misaligned?This paper proposes Hear to See (H2S), addressing these challenges through two mechanisms. The Acoustic-Semantic Projector (ASP) disentangles mixed audio and establishes hierarchical correspondence from semantic to spatial domains. The Asynchronous Dynamics Modulator (ADM) adaptively adjusts state transitions via audio-modulated Mamba, prioritizing current information during dynamic variations and maintaining continuity in stable periods.Experiments on AVISeg show H2S achieves SOTA performance, attaining 48.54 mAP with a COCO pretrained ResNet50 and surpassing the previous by 7.8\%. The code will be open-sourced once the paper is accepted. The source code will be publicly available at https://github.com/leiyeliu/H2S.

cs.MM↗
arXiv2026

Multi-Modal Object Re-Identification with Prompt-S6 and Semantic-Aware Knowledge Guidance

Multi-modal object Re-Identification (ReID) aims to retrieve specific objects by integrating complementary information from multiple modalities. However, existing multi-modal ReID methods do not effectively address background interference suppression or achieve tri-modal alignment, instead focusing on pairwise feature fusion. Moreover, many current aggregation approaches suffer from high computational complexity. To address these limitations, we propose PRISM, a novel multi-modal ReID framework built upon Prompt-S6 (PS6) and semantic-aware knowledge guidance. PS6 maintains the linear complexity and strong sequence modeling capability of Mamba while enabling efficient cross-modal interaction. Leveraging these advantages, we design two key components: Semantic-Driven Token Pruning (SDTP) and Progressive Fusion Network (PFN). Parsing semantic priors from the segmentation foundation models, the SDTP then leverages these priors and applies dynamic token pruning to suppress background noise and refine feature representations. The PFN progressively aggregates multi-modal features to achieve tri-modal alignment and fully exploit modality complementarity. With the proposed modules, PRISM generates more robust multi-modal representations under complex scenarios. Extensive experiments on four multi-modal object ReID benchmarks demonstrate the effectiveness and efficiency of our approach. The source code is available at https://github.com/zw-absin/PRISM.

cs.CV↗