Yunfei Wei

Wenxuan Guo, Ziyuan Li, Meng Zhang et al.

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robot manipulation by unifying perception and action. However, existing VLA systems primarily rely on textual instructions and struggle to resolve spatial ambiguity in complex scenes with multiple similar objects. To address this limitation, we introduce gesture as a parallel instruction modality and propose a Gesture-aware Vision-Language-Action model (GesVLA). Our approach encodes gesture features directly into the latent space, enabling them to participate in both high-level reasoning and low-level action generation, and adopts a dual-VLM architecture to achieve tight coupling between gesture representations and action policies. At the data level, we construct a scalable gesture data generation pipeline by rendering hand models onto real-world scene images. This reduces the sim-to-real visual gap while producing rich data with diverse motion patterns and corresponding pointing annotations. In addition, we employ a two-stage training strategy to equip the model with both gesture perception and action prediction capabilities. We evaluate our approach on multiple real-world robotic tasks, including a controlled block manipulation task for validation and more practical scenarios such as product and produce selection. Experimental results show that incorporating gesture consistently improves target grounding accuracy and human-robot interaction efficiency, especially in complex and cluttered environments. Project page: https://gwxuan.github.io/GesVLA/.

Defei Xia, Bingfeng Pi, Shenbin Zhang et al.

As agent systems powered by large language models (LLMs) advance, improving performance in context understanding, tool usage, and long-horizon execution has become critical. However, existing agent frameworks and benchmarks provide limited visibility into execution-level behavior, making failures in tool invocation, state tracking, and context management difficult to diagnose. This paper presents Jenius-Agent, a system-level agent framework grounded in real-world deployment experience. It integrates adaptive prompt generation, context-aware tool orchestration, and layered memory mechanism to stabilize execution and improve robustness in long-horizon, tool-augmented tasks. Beyond system design, we introduce an evaluation methodology that jointly measures procedural fidelity, semantic correctness, and efficiency. This framework makes agent behavior observable as a structured execution process and enables systematic analysis of failure modes not captured by output-only metrics. Experiments on Jenius-bench show substantial improvements in task completion rate, with up to a 35 percent relative gain over the base agent, along with reduced token consumption, response latency, and tool invocation failures. The framework is already deployed in Jenius ({https://www.jenius.cn}), providing a lightweight and scalable solution for robust, protocol-compatible autonomous agents.