arXiv subjects

Ronghao Yu

Publications and source records attributed to Ronghao Yu.

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↗

arXiv2025

Uni-Neur2Img: Unified Neural Signal-Guided Image Generation, Editing, and Stylization via Diffusion Transformers

Generating or editing images directly from Neural signals has immense potential at the intersection of neuroscience, vision, and Brain-computer interaction. In this paper, We present Uni-Neur2Img, a unified framework for neural signal-driven image generation and editing. The framework introduces a parameter-efficient LoRA-based neural signal injection module that independently processes each conditioning signal as a pluggable component, facilitating flexible multi-modal conditioning without altering base model parameters. Additionally, we employ a causal attention mechanism accommodate the long-sequence modeling demands of conditional generation tasks. Existing neural-driven generation research predominantly focuses on textual modalities as conditions or intermediate representations, resulting in limited exploration of visual modalities as direct conditioning signals. To bridge this research gap, we introduce the EEG-Style dataset. We conduct comprehensive evaluations across public benchmarks and self-collected neural signal datasets: (1) EEG-driven image generation on the public CVPR40 dataset; (2) neural signal-guided image editing on the public Loongx dataset for semantic-aware local modifications; and (3) EEG-driven style transfer on our self-collected EEG-Style dataset. Extensive experimental results demonstrate significant improvements in generation fidelity, editing consistency, and style transfer quality while maintaining low computational overhead and strong scalability to additional modalities. Thus, Uni-Neur2Img offers a unified, efficient, and extensible solution for bridging neural signals and visual content generation.

cs.CV↗

arXiv2018

Prognostication of chronic disorders of consciousness using brain functional networks and clinical characteristics

Disorders of consciousness are a heterogeneous mixture of different diseases or injuries. Although some indicators and models have been proposed for prognostication, any single method when used alone carries a high risk of false prediction. This study aimed to develop a multidomain prognostic model that combines resting state functional MRI with three clinical characteristics to predict one year outcomes at the single-subject level. The model discriminated between patients who would later recover consciousness and those who would not with an accuracy of around 90% on three datasets from two medical centers. It was also able to identify the prognostic importance of different predictors, including brain functions and clinical characteristics. To our knowledge, this is the first implementation reported of a multidomain prognostic model based on resting state functional MRI and clinical characteristics in chronic disorders of consciousness. We therefore suggest that this novel prognostic model is accurate, robust, and interpretable.

q-bio.NC↗