arXiv subjects

Linpeng Peng

Publications and source records attributed to Linpeng Peng.

3 recordsLinked to original sources

arXiv2026

TS-Mask VLA: 2D Temporal-Spatial Masking for Vision-Language-Action Model with Effective Bridging

Vision-language-action (VLA) models aim to understand natural-language instructions and visual observations, and to generate and execute corresponding actions as embodied agents. Recently, autoregressive token-based action generation has driven the development of many representative VLA models. However, this paradigm often reduces action generation to next-token prediction, thereby lacking explicit modeling of the spatiotemporal structure of action sequences and the disentanglement between vision-language representations and actions, which can limit performance in long-horizon and complex scenarios. In this paper, we propose TS-Mask VLA, a vision-language-action framework for robot manipulation. TS-Mask VLA is built upon two key designs: (1) a Discrete Diffusion Action Expert equipped with a Bridge Attention conditioning bridge, which enables multi-layer conditioning from the VLM and facilitates more accurate and stable action generation; and (2) a temporal-spatial 2D masking strategy for discrete action tokens that strengthens the model's understanding of cross-time dependencies and inter-dimensional coupling, leading to more structurally consistent action sequences. We conduct extensive experiments on simulation benchmarks and real-world tasks. On LIBERO, TS-Mask VLA achieves a 95.7 percent average success rate with only 0.5B parameters, outperforming significantly larger models. On CALVIN, it attains the best average sequence length of 4.19 and strong long-horizon performance. Comprehensive analyses and ablations further validate the effectiveness of our design.

cs.RO↗

arXiv2023

MaxQ: Multi-Axis Query for N:M Sparsity Network

N:M sparsity has received increasing attention due to its remarkable performance and latency trade-off compared with structured and unstructured sparsity. However, existing N:M sparsity methods do not differentiate the relative importance of weights among blocks and leave important weights underappreciated. Besides, they directly apply N:M sparsity to the whole network, which will cause severe information loss. Thus, they are still sub-optimal. In this paper, we propose an efficient and effective Multi-Axis Query methodology, dubbed as MaxQ, to rectify these problems. During the training, MaxQ employs a dynamic approach to generate soft N:M masks, considering the weight importance across multiple axes. This method enhances the weights with more importance and ensures more effective updates. Meanwhile, a sparsity strategy that gradually increases the percentage of N:M weight blocks is applied, which allows the network to heal from the pruning-induced damage progressively. During the runtime, the N:M soft masks can be precomputed as constants and folded into weights without causing any distortion to the sparse pattern and incurring additional computational overhead. Comprehensive experiments demonstrate that MaxQ achieves consistent improvements across diverse CNN architectures in various computer vision tasks, including image classification, object detection and instance segmentation. For ResNet50 with 1:16 sparse pattern, MaxQ can achieve 74.6\% top-1 accuracy on ImageNet and improve by over 2.8\% over the state-of-the-art. Codes and checkpoints are available at \url{https://github.com/JingyangXiang/MaxQ}.

cs.CV↗

arXiv2023

A Coarse-to-Fine Place Recognition Approach using Attention-guided Descriptors and Overlap Estimation

Place recognition is a challenging but crucial task in robotics. Current description-based methods may be limited by representation capabilities, while pairwise similarity-based methods require exhaustive searches, which is time-consuming. In this paper, we present a novel coarse-to-fine approach to address these problems, which combines BEV (Bird's Eye View) feature extraction, coarse-grained matching and fine-grained verification. In the coarse stage, our approach utilizes an attention-guided network to generate attention-guided descriptors. We then employ a fast affinity-based candidate selection process to identify the Top-K most similar candidates. In the fine stage, we estimate pairwise overlap among the narrowed-down place candidates to determine the final match. Experimental results on the KITTI and KITTI-360 datasets demonstrate that our approach outperforms state-of-the-art methods. The code will be released publicly soon.

cs.CV↗