Siyao Xiao

Siyao Xiao, Yuhong Zhang, Zhifang Liu et al.

Current Vision-Language-Action (VLA) models predominantly rely on end-to-end fine-tuning. While effective, this paradigm compromises the inherent generalization capabilities of Vision-Language Models (VLMs) and incurs catastrophic forgetting. To address these limitations, we propose $M^2$-VLA, which demonstrates that a generalized VLM is able to serve as a powerful backbone for robotic manipulation directly. However, it remains a key challenge to bridge the gap between the high-level semantic understanding of VLMs and the precise requirements of robotic control. To overcome this, we introduce the Mixture of Layers (MoL) strategy that selectively extracts task-critical information from dense semantic features. Furthermore, to facilitate efficient trajectory learning under constrained model capacity, we propose a Meta Skill Module (MSM) that integrates strong inductive biases. Extensive experiments in both simulated and real-world environments demonstrate the effectiveness of our approach. Furthermore, generalization and ablation studies validate the architecture's zero-shot capabilities and confirm the contribution of each key component. Our code and pre-trained models will be made publicly available.

Meihao Fan, Lei Zhang, Siyao Xiao et al.

KBQA is a task that requires to answer questions by using semantic structured information in knowledge base. Previous work in this area has been restricted due to the lack of large semantic parsing dataset and the exponential growth of searching space with the increasing hops of relation paths. In this paper, we propose an efficient pipeline method equipped with a pre-trained language model. By adopting Beam Search algorithm, the searching space will not be restricted in subgraph of 3 hops. Besides, we propose a data generation strategy, which enables our model to generalize well from few training samples. We evaluate our model on an open-domain complex Chinese Question Answering task CCKS2019 and achieve F1-score of 62.55% on the test dataset. In addition, in order to test the few-shot learning capability of our model, we ramdomly select 10% of the primary data to train our model, the result shows that our model can still achieves F1-score of 58.54%, which verifies the capability of our model to process KBQA task and the advantage in few-shot Learning.