Zhipeng Xie

Zhipeng Xie, Zongyi Han, Xiangyi Wei et al.

Vision-Language-Action (VLA) models have demonstrated strong capabilities in robotic manipulation, but their performance degrades significantly in long-horizon tasks due to cumulative error propagation. This limitation largely arises from static feature fusion mechanisms that rely on fixed weights to combine visual, language, and action representations, preventing the model from adapting to different phases of task execution. To address this limitation, we propose S$^2$-VLA, a framework that introduces a State-Space Guided Adaptive Attention (SSGAA) mechanism. SSGAA maintains a belief state that tracks task progression and generates dynamic gating weights to adaptively fuse information from three complementary sources visual features for spatial perception, task intents for high-level task planning, and temporal action sequences for execution consistency. This adaptive fusion allows the model to shift its focus throughout task execution, aligning with the evolving requirements of different task stages. Despite its compact 2B parameter size, S$^2$-VLA consistently outperforms larger 7B-scale models and achieves state-of-the-art performance on long-horizon manipulation benchmarks, including LIBERO and SimplerEnv. highlighting the importance of adaptive feature fusion for long-horizon robotic manipulation.

Zhipeng Xie, Junfeng Hu

Recognizing textual entailment is a fundamental task in a variety of text mining or natural language processing applications. This paper proposes a simple neural model for RTE problem. It first matches each word in the hypothesis with its most-similar word in the premise, producing an augmented representation of the hypothesis conditioned on the premise as a sequence of word pairs. The LSTM model is then used to model this augmented sequence, and the final output from the LSTM is fed into a softmax layer to make the prediction. Besides the base model, in order to enhance its performance, we also proposed three techniques: the integration of multiple word-embedding library, bi-way integration, and ensemble based on model averaging. Experimental results on the SNLI dataset have shown that the three techniques are effective in boosting the predicative accuracy and that our method outperforms several state-of-the-state ones.