Publications

CATok: Causal Action Tokenization via Discrete Diffusion Conditional Annealing

Chenyu Zhang^*, Yuhang Cao^*, Daru Du, Yingxi Lu, Jiajun Liu, Yicheng Liu, Hang Zhao, Mengdi Xu^†

^*Equal Contribution ^†Corresponding Author

In Submission, 2026

VLA, Action tokenizer.

HoVLE: Unleashing the Power of Monolithic Vision-Language Models with Holistic Vision-Language Embedding

Chenxin Tao^*, Shiqian Su^*, Xizhou Zhu^*, Chenyu Zhang, Zhe Chen, Jiawen Liu, Wenhai Wang, Lewei Lu, Gao Huang, Yu Qiao, Jifeng Dai^†

^*Equal Contribution ^†Corresponding Author

Published in IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), 2025

VLM Training.

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ToW3D: Consistency-aware Interactive Point-based Mesh Editing on GANs

Haixu Song, Fangfu Liu, Chenyu Zhang, Yueqi Duan^†

^†Corresponding Author

Published in IEEE International Conference on Multimedia and Expo (ICME), 2024

3D mesh editing.

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Kinematics-Aware Diffusion Policy with Consistent 3D Observation and Action Space for Whole-Arm Robotic Manipulation

Kangchen Lv, Mingrui Yu, Yongyi Jia, Chenyu Zhang, Xiang Li^†

^†Corresponding Author

Published in IEEE Robotics and Automation Letters (RA-L), 2026

Robotic Manipulation.

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