arXiv subjects

Jiajun Deng

Publications and source records attributed to Jiajun Deng.

At least 19 recordsLinked to original sources

arXiv2026

Robocasa-Mem: Benchmarking Environment and Process Memory in Long-Horizon Mobile Manipulation

In the real world, mobile manipulation robots must perform complex object interactions and make multi-step decisions, often relying on task-relevant information that is no longer observable. However, existing benchmarks provide limited evaluation of such memory-dependent decision-making in mobile manipulation. To address this gap, we introduce RoboCasa-Mem, a new benchmark comprising nine mobile manipulation tasks that require agents to use interaction history at key decision points. Specifically, the tasks are grouped into two categories of memory: One is environment memory, which captures spatial locations, object attributes, and object relationships. The other is process memory, which captures single-task progress and multi-task scheduling. Particularly, we introduce Behavior-Conditioned Evaluation. For tasks with multiple valid execution paths, instead of fixing a single target or trajectory, the evaluator derives later task constraints from the robot's earlier actions. This allows us to evaluate whether later behavior is consistent with the robot's own interaction history while reducing shortcuts based on fixed target assignments. We provide 1,800 successful demonstrations for policy training. We also develop a baseline on our benchmark, namely Hierarchical Memory-Augmented Policy(HMAP). Its high-level planner uses structured entity and process memories to generate subtasks. Its low-level VLA controller uses subgoal-conditioned queries to incorporate VGGT-Omega geometry into action generation. Together, RoboCasa-Mem and HMAP baseline support systematic evaluation of memory-dependent behavior and the development of memory-aware mobile manipulation policies.

cs.RO↗

arXiv2026

TrajWAM: An Efficient Trajectory-Guided World Action Model for Dynamic Robotic Manipulation

Dynamic object manipulation requires robots to anticipate target motion while replanning fast enough to avoid executing outdated actions. Existing approaches either rely on fast reactive control without an explicit future target state or encode anticipated motion only implicitly. World Action Models (WAMs) offer a promising alternative by coupling future visual prediction with action generation, but scene-level video objectives may underrepresent target dynamics that are critical for manipulation, while iterative video-action denoising introduces substantial latency. We present TrajWAM, a trajectory-guided world action model for efficient dynamic robotic manipulation. Our key insight is to explicitly ground future visual imagination in predicted target-object motion and use the resulting future representation to condition action generation, while preserving this anticipation pathway after acceleration. Given a short history of object masks, a history-conditioned motion predictor forecasts future masks encoding the target object's trajectory. A lightweight Trajectory ControlNet then steers a pretrained video model toward trajectory-consistent futures. The resulting future representation conditions an action expert to predict executable action chunks. To enable one-step inference without breaking this interface, we introduce a decoupled distillation scheme that combines distribution matching for the video backbone, Trajectory ControlNet realignment, and action rollout distillation to support accurate one-step action prediction conditioned on the compressed future representation. Comprehensive evaluations in simulation and the real world show that TrajWAM achieves state-of-the-art performance on dynamic object manipulation tasks while enabling efficient one-step video-action inference. Project page: https://kevingeng3.github.io/TrajWAM/.

cs.RO↗

arXiv2026

BookNet: Book Image Rectification via Cross-Page Attention Network

Book image rectification presents unique challenges due to its complex geometric distortions from binding constraints, where left and right pages exhibit distinctly asymmetric curvature patterns. However, existing single-page document image rectification methods fail to capture the coupled geometric relationships between adjacent pages in books. In this work, we introduce BookNet, the first end-to-end deep learning framework specifically designed for dual-page book image rectification. BookNet adopts a dual-branch architecture with cross-page attention mechanisms, enabling it to estimate warping flows for both \rev{individual pages and the book spread}, explicitly modeling how left and right pages influence each other. Moreover, to address the absence of specialized datasets, we present Book3D, a large-scale synthetic dataset for training, and Book100, a comprehensive real-world benchmark for evaluation. Extensive experiments demonstrate that BookNet outperforms existing state-of-the-art methods on book image rectification. \rev{Code and dataset are available at https://github.com/Liu-Shaokai/BookNet.

cs.CV↗

arXiv2026

VideoTapestry: Query-Adaptive Memory Refinement for Multi-Agent Long-Video Understanding

Long-video understanding places substantial demands on memory, as answering questions often requires retrieving information distributed across extended temporal spans. Existing approaches broadly follow two paradigms: query-driven exploration, which is sensitive to localization errors, and query-independent memory construction, which may omit question-specific details. We introduce VideoTapestry, a training-free multi-agent framework that adapts a preconstructed hierarchical video memory through coarse-to-fine, query-driven refinement. The preconstructed memory organizes video content into three levels, capturing global narrative context, event-level temporal structure, and fine-grained relational evidence, respectively. To support coarse-to-fine localization and observation, we assign a specialized agent to each level, keeping retrieval and refinement within a scale-specific context. Guided by the query, these agents revisit relevant video regions and enrich layer-wise memories with targeted multimodal observations. Their refinements are assembled according to the original hierarchy into a composite query-adaptive memory, preserving global context in a compact form while retaining fine-grained evidence along query-relevant branches for final reasoning. Compared with direct GPT-5.5 inference, VideoTapestry achieves absolute accuracy gains of 17.2%, 14.9%, 9.8%, and 7.0% on LVBench, LongVideoBench (Long), Video-MME (Long), and EgoSchema, respectively, achieving the state-of-the-art results among all competitors.

cs.CV↗

arXiv2026

WAM-OPD: Sharpening World Action Models via On-Policy Distillation

Pretrained world action models (WAMs) provide generalist capabilities across diverse robotic manipulation tasks, yet improving target-task performance to an expert level without degrading pretrained skills remains challenging. We explore on-policy distillation (OPD) for WAMs and introduce WAM-OPD. WAM-OPD inherits the advantage of OPD methods that transfer task-specific teacher knowledge under the student's own induced distribution, rather than directly fitting the student to a narrow task-specific data distribution. However, in closed-loop manipulation, the observation histories change as the student policy evolves, requiring fresh environment rollouts to remain on-policy. Applying OPD to WAMs entails repeated data collection, which is costly even in simulation and often impractical on real robots. To avoid repeated environment rollouts during distillation, we introduce prefix-weighted trajectory replay (PWTR). PWTR uses a fixed trajectory pool composed primarily of initial-student rollouts, supplemented with task-specific teacher rollouts to broaden trajectory coverage. For each trajectory replayed from this pool, PWTR conditions the current policy on successive stored histories to generate fresh denoising paths, along which the task-specific teacher provides supervision. Although these denoising paths are refreshed as the policy evolves, the replayed environment trajectories remain fixed. PWTR therefore reweights per-decision distillation losses using proxy importance weights derived from path scores accumulated over the trajectory prefix preceding each decision to mitigate the resulting shift in the history distribution. Simulated and real-world experiments demonstrate task adaptation without additional environment interaction during distillation. In both settings, WAM-OPD improves target-task performance while retaining near-initial performance on tasks excluded from adaptation.

cs.RO↗

arXiv2026

Differentiable and Severity-invariant Discrete Tokens for Dysarthric Speech Recognition

This paper proposes novel differentiable and severity-invariant (DSI) discrete token approaches that are not only tightly integrated with downstream dysarthric speech recognition tasks, but also minimise discrete token diversity across speech impairment severity groups. Experiments conducted on the UASpeech and TORGO corpora suggest that Conformer models trained using the DSI tokens outperform the comparable baseline HuBERT discrete/continuous features by statistically significant WER reductions of 2.22\%/0.78\% absolute (9.14\%/3.41\% relative) and 1.78\%/1.06\% absolute (18.43\%/11.86\% relative) on the two tasks, respectively. After system combination, the lowest WERs of 18.90\% and 6.38\% were obtained on UASpeech and TORGO. Phoneme-specific T-SNE visualizations show that severity-invariant regularization reduces severity-dependent variation by producing greater overlap and less distinct boundaries among severity-group distributions.

eess.AS↗

arXiv2026

DriftingVLA: Native One-Step Vision-Language-Action Generation via Per-Dimension Temporal Drifting

Conventional flow-based vision-language-action (VLA) models support expressive continuous action generation but rely on multi-step refinement to produce each action chunk, increasing latency in online robot control. To address this issue, we introduce DriftingVLA, a native one-step VLA that generates a complete action chunk with a single action-expert forward pass. Rather than learning a flow field that requires iterative integration at inference, DriftingVLA uses a distribution-drifting objective to learn a direct noise-to-action-chunk mapping for one-step deployment. Since robot action dimensions carry distinct control semantics and distributional characteristics, we further introduce Per-Dimension Temporal Drifting (PDTD). PDTD treats the complete temporal trajectory of each action dimension as a separate drifting unit, enabling finer-grained modeling and shaping of dimension-specific action distributions. This per-dimension decomposition applies only to the training objective; the shared VLA model still generates the complete action chunk jointly, thereby preserving cross-dimensional dependencies. DriftingVLA achieves 98.32% success on LIBERO, 81.09% on RoboTwin 2.0, and 77.67% across six real-world single- and dual-arm tasks, outperforming the evaluated multi-step flow policy and one-step VLA baselines. Native one-step deployment also delivers a 3.36-fold speedup in action-chunk generation, eliminating iterative refinement without sacrificing control performance.

cs.RO↗

arXiv2026

Drift-Based Policy Optimization: Native One-Step Policy Learning for Online Robot Control

Diffusion policies effectively model multimodal action distributions for robotic manipulation, but their iterative denoising requires tens to hundreds of network function evaluations (NFEs) for each control prediction, limiting their applicability to high-frequency closed-loop control and online reinforcement learning (RL). We present a two-stage framework for native one-step generative policies that transfers iterative refinement from inference to training. First, Drift-Based Policy (DBP) uses a fixed-point drifting objective to internalize corrective dynamics into the model parameters, producing multimodal action chunks with a single network evaluation by design. Second, Drift-Based Policy Optimization (DBPO) augments the pretrained backbone with a stochastic interface that provides exact conditional rollout likelihoods for PPO-style on-policy updates while preserving 1-NFE deployment. On the 12-task Diffusion Policy suite, DBP improves the average success rate from 0.79 to 0.83 while reducing inference from 100 NFEs to 1. Across 37 point-cloud manipulation tasks, DBP achieves an average success rate of 88.4%, surpassing the leading 1-NFE baseline OMP at 82.3%. DBPO further improves pretrained one-step policies through stable online fine-tuning on RoboMimic and D4RL. On a physical dual-arm UR5 platform, DBP achieves 123/150 successes (82%) with an average end-to-end latency of 9.5 ms, compared with MP1's 89/150 successes (59%) under the same setup. Code is available at https://github.com/YuxuanGao0822/DBPO.

cs.RO↗

arXiv2026

GenFirst: Generation Before Reconstruction for Stable End-to-End Latent Generative Modeling

Latent generative models typically follow a two-stage pipeline, training a variational autoencoder for reconstruction and then a generative model on the frozen latent space. Since reconstruction-optimized latents are not necessarily generation-friendly, jointly training both models is an appealing alternative. However, direct end-to-end training remains challenging, as it is prone to latent collapse and faces a generation-reconstruction conflict. We revisit this problem by analyzing how different objectives shape the latent space and identify two key insights. First, the entropy term in the Kullback-Leibler divergence objective is essential for preventing collapse: reconstruction and prior fitting tend to shrink the posterior, while entropy preserves non-degenerate latent uncertainty. Second, reconstruction and generation exhibit asymmetric learning dynamics: reconstruction is fast and strongly supervised, whereas generation is slower and harder to optimize. Based on these insights, we achieve the first direct end-to-end training without latent collapse and propose GenFirst, a simple generation-before-reconstruction strategy. The generative objective first shapes the latent space under weak reconstruction pressure, after which reconstruction is progressively strengthened to recover visual details. We validate GenFirst with continuous autoregressive priors with exact likelihoods and SiT priors with implicit likelihoods. With our end-to-end objective and GenFirst, SiT achieves a gFID of 0.97 with CFG and 1.45 without CFG on ImageNet-256, while MMDiT reaches a GenEval score of 0.90 on text-to-image generation. Beyond image generation, we extend the framework to shared visual latents for generation and representation learning, and to continuous unified text-image generation. These results demonstrate the generality of stable end-to-end latent learning across generative priors and modalities.

cs.CV↗

arXiv2026

Benchmarking Clinical Decision Pathway Adherence in Large Language Models

Following clinical decision pathways (CDPs) defined by clinical practice guidelines is essential for safe and reliable medical decision-making. However, existing medical large language model (LLM) benchmarks mainly evaluate final-answer accuracy, providing limited evaluation of models' ability to adhere to guidelines. To address this gap, we introduce MEGA-CDP, a benchmark for evaluating whether medical LLMs can generate guideline-adherent CDPs using provided guidelines as references. MEGA-CDP is constructed from 2,274 English and Chinese clinical practice guidelines through a guideline-to-case pipeline, yielding 42,353 clinical cases with explicit reference CDPs. It supports both single-turn vignette and multi-turn interactive settings, and introduces a CDP-oriented evaluation framework for measuring pathway consistency. Experiments on 16 representative LLMs show that reliable clinical decision support remains challenging for current models, demonstrating the need for CDP-oriented evaluation and the value of MEGA-CDP for advancing guideline adherence in medical LLMs.

cs.CL↗

arXiv2026

RoMAN-Flow: Taming Autoregressive Normalizing Flows for Offline Reinforcement Learning in Robotic Manipulation

Offline reinforcement learning improves robotic policies using previously collected data without further environment interaction. Yet prevalent diffusion- and flow-matching robot policies lack tractable likelihoods, limiting their use in likelihood-based offline RL post-training. AR-NFs offer both expressive action modeling and exact likelihood evaluation, but their sequential sampling incurs substantial sampling overhead during policy optimization and deployment. We present RoMAN-Flow (Robotic Manipulation with Autoregressive Normalizing Flows), an offline reinforcement learning framework that makes AR-NF policies practical for robotic manipulation by addressing this sampling bottleneck in both stages. During policy optimization, RoMAN-Flow employs a sampling-free, advantage-weighted likelihood objective that assigns higher likelihood to high-advantage actions from the offline dataset without sampling from the autoregressive policy. For efficient deployment, it distills the optimized autoregressive policy into a one-step action generator, enabling low-latency action prediction. Experiments across multiple simulated manipulation benchmarks and real-world robotic platforms demonstrate that RoMAN-Flow achieves competitive policy performance while substantially reducing inference latency. Code is available at https://github.com/konnyaku28/RoMAN-Flow.

cs.CV↗

arXiv2026

LabDex: A Hierarchical Benchmark for Dexterous Manipulation in Laboratories

Autonomous laboratories hold great promise for accelerating scientific discovery. To achieve this vision, robots are supposed to dexterously manipulate diverse labware and instruments and execute long-horizon, state-dependent experimental procedures. Yet existing benchmarks do not jointly capture dexterous hand use, real-world laboratory interactions, and multi-stage experimental procedures, limiting systematic training and evaluation. To bridge this gap, we introduce LabDex, a large-scale real-world dataset and benchmark for dexterous manipulation in chemistry laboratories, organized around a hierarchical task taxonomy spanning atomic skills, compositional tasks, and long-horizon experiments. First, LabDex is cross-platform and, for the first time, unifies real-world and simulation platforms under a common framework, providing standardized task definitions, demonstrations, and evaluation protocols. Second, LabDex is large-scale and systematically organizes chemistry laboratory operations into three interconnected levels: Atomic Skills, which characterize fundamental dexterous manipulation capabilities; Compositional Skills; and Long-Horizon Laboratory Workflows. This hierarchical design not only supports the evaluation of end-task performance, but also enables the analysis of how fundamental dexterous skills compose and influence more complex laboratory operations. We conduct cross-level evaluations of representative robot learning methods in both real-world and simulation environments. The experimental results validate the effectiveness of the LabDex task design and demonstration data, and show that the benchmark supports the training and systematic evaluation of existing robotic policies across laboratory dexterous manipulation tasks at different levels, providing a foundation for further research and development of autonomous laboratory robots.

cs.RO↗

arXiv2026

ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction

Fusing tactile signals has proven effective for contact-rich manipulation, enabling robots to perceive contact states and adapt to rapidly changing physical interactions. Yet effectively integrating tactile feedback into dexterous manipulation remains underexplored. In this work, we introduce ReTouch, a vision-language-action model (VLA) that supports contact-rich dexterous manipulation through tactile predictions continually refined online using execution-time feedback. ReTouch builds on two main innovations for tactile representation and closed-loop action generation. First, its Tactile-Patch Encoder represents tactile observations as structured tactile patch features that preserve finger identity and local contact structure, providing contact cues for fine-grained dexterous control. Second, its high-frequency action module jointly predicts future tactile states and action chunks and refines both using incoming tactile feedback during execution. This closed-loop refinement keeps tactile predictions aligned with evolving physical interactions, enabling responsive action correction and improving robustness to contact changes and execution errors. We further introduce XHT-Dataset, comprising 900 real-world demonstrations across seven contact-rich tasks collected on an XHand--UR7e platform, and evaluate ReTouch through closed-loop real-robot experiments. ReTouch surpasses the strongest baseline by 18.4 and 23.8 percentage points in average success rate under standard and challenging conditions, respectively, demonstrating its effectiveness and robustness.

cs.RO↗

arXiv2026

ThinkAfford: Affordance-Centric Reasoning for Fine-Grained 3D Grounding in Cluttered Scenes

Task-driven 3D affordance grounding aims to localize the functional region in a cluttered 3D scene that enables an action specified by a natural-language instruction. Existing methods either predict 3D masks directly or construct them by selecting and fusing intermediate 2D/3D regions. However, they remain vulnerable to two intertwined failure modes: the predicted or selected regions may miss the target interaction area or have unsuitable granularity, while language grounding may confuse visually similar alternatives under relational instructions. To this end, we introduce ThinkAfford, which decouples high-recall affordance proposal generation from instruction-grounded reasoning. Specifically, the Affordance Proposal Generation module first uses learnable affordance prompts and multi-level visual features to predict interaction-conditioned heatmaps, extracting a variable number of fine-grained proposals without parsed object or part names as segmentation prompts. Visual-Prompted Affordance Reasoning then reasons over labeled proposal overlays using the full instruction, returning identifiers in a structured "think-then-answer" response. Moreover, Group Relative Policy Optimization uses proposal-level rewards from lifted 3D overlap to align VPAR selection with final 3D grounding. On the SceneFun3D validation split, ThinkAfford achieves 10.69% AP50 and 25.46% AP25 under the official evaluator, outperforming comparable 3D open-vocabulary and vision-language-model-based 2D-to-3D baselines. Module-level diagnostics further show that APG attains 77.5% recall at 25% intersection-over-union, while GRPO-trained VPAR achieves 72.1% selection accuracy on APG-covered queries, compared with 63.4% under supervised fine-tuning.

cs.CV↗

arXiv2026

ViCo3D: Empowering LiDAR-based Collaborative 3D Object Detection with Vision Foundation Models

LiDAR-based collaborative 3D perception in Vehicle-to-Everything (V2X) systems typically relies on fusing bird's-eye-view (BEV) features across agents. However, current BEV representations, typically extracted by LiDAR backbones trained from scratch, are geometry-dominated and lack general semantic priors, inherently limiting the efficacy of feature-level collaboration. Meanwhile, vision foundation models (VFMs) pretrained on large-scale image data have demonstrated strong capability in learning general-purpose and informative visual representations for 2D tasks, and have the potential to enhance agent-wise LiDAR BEV representations for collaboration. Despite this potential, adapting VFMs to LiDAR-based 3D detection remains challenging due to the substantial image-point cloud modality gap. To bridge this gap, we propose ViCo3D, a collaborative 3D object detection framework powered by VFMs. Specifically, ViCo3D adapts VFMs to LiDAR-based collaborative perception from three aspects: First, ViCo3D projects point clouds onto the BEV plane as three-channel images, enabling DINOv2 to extract BEV-space visual features from LiDAR inputs. Besides, to effectively integrate these DINOv2-derived features with LiDAR geometric features, ViCo3D introduces a multi-scale BEV fusion module within the single-agent encoder. In addition, ViCo3D adopts an ego-centric cross-agent fusion strategy to aggregate complementary information from multiple agents. Experiments on DAIR-V2X and V2XSet demonstrate that ViCo3D achieves state-of-the-art 3D detection performance. Remarkably, it delivers up to 1.8x greater collaborative gains than prior methods on DAIR-V2X. The code will be made public available for future investigation.

cs.CV↗

arXiv2026

Next-Turn: Duration-Aware Streaming Endpoint Detection via Time-to-Next-Speech-Onset Prediction

Endpoint detection (EPD) is essential for natural turn-taking in streaming speech systems. However, reliably determining the endpoint of an utterance is challenging because speakers often pause mid-utterance due to hesitations and disfluencies. Semantic EPD has emerged as a promising direction to address this issue but is hindered by ambiguous supervision and strict streaming constraints. We propose Next-Turn that uses the time-to-next-speech-onset as the training objective, where targets are derived directly from speech timestamps and require no additional annotation. Experiments show that the proposed method outperforms conventional acoustic and recent semantic EPD baselines, achieving a 25.9% absolute improvement in endpoint accuracy within 320 ms over the strongest baseline. In addition, joint training with the duration-aware objective complements standard binary EPD, with gains that increase monotonically with increasing pauses.

cs.SD↗

arXiv2026

Decoding while Adapting: Zero-Shot Online Speaker Adaptation via Audio-Textual Prompts for Elderly Speech Recognition

This paper proposes a novel cross-utterance audio-textual prompts based speaker adaptation approach for elderly speech recognition. It enables zero-shot, real-time adaptation to unseen speakers. Speech and text embeddings are extracted from the current and a few preceding utterances, before being fused in a cross-modal manner to produce compact speaker prompts that are more consistent than i/x-vectors and ECAPA-TDNN features. Experiments on the English DementiaBank Pitt and Cantonese JCCOCC MoCA elderly speech datasets suggest that the proposed online adaptation outperforms the speaker-independent (SI) model by statistically significant word error rate (WER) or character error rate (CER) reductions of 0.61% and 1.22% absolute (2.99% and 4.48% relative). Real-time factor (RTF) speed-up ratios of up to 9.83 times are obtained over offline batch-mode adaptation.

eess.AS↗

arXiv2026

Confidence Score Guided Incremental and Speaker Adaptive Pseudo-Labeling for Semi-Supervised Elderly Speech Recognition

This paper proposes a novel confidence score guided incremental and speaker adaptive pseudo-labeling approach for semi-supervised elderly speech recognition. It facilitates higher-quality pseudo-label selection and progressive refinement, while also mitigating speaker heterogeneity. A confidence estimation module is designed to rank the reliability of untranscribed data, enabling a curriculum learning trajectory that progressively folds in unlabeled data subsets from high to low confidence. Speaker-specific characteristics are captured through speaker adaptive training with learnable prompts. Experiments on the English DementiaBank Pitt and Cantonese JCCOCC MoCA elderly speech datasets suggest that the proposed method outperforms the semi-supervised baseline using no confidence scores guided incremental or speaker adaptive pseudo-labeling by statistically significant word error rate (WER) or character error rate (CER) reductions of 1.45% and 2.27% absolute (6.21% and 6.98% relative).

eess.AS↗