Zejun Yang

Siqi Yang, Zejun Yang, Zhisheng Wang

Dancing with music is always an essential human art form to express emotion. Due to the high temporal-spacial complexity, long-term 3D realist dance generation synchronized with music is challenging. Existing methods suffer from the freezing problem when generating long-term dances due to error accumulation and training-inference discrepancy. To address this, we design a conditional diffusion model, LongDanceDiff, for this sequence-to-sequence long-term dance generation, addressing the challenges of temporal coherency and spatial constraint. LongDanceDiff contains a transformer-based diffusion model, where the input is a concatenation of music, past motions, and noised future motions. This partial noising strategy leverages the full-attention mechanism and learns the dependencies among music and past motions. To enhance the diversity of generated dance motions and mitigate the freezing problem, we introduce a mutual information minimization objective that regularizes the dependency between past and future motions. We also address common visual quality issues in dance generation, such as foot sliding and unsmooth motion, by incorporating spatial constraints through a Global-Trajectory Modulation (GTM) layer and motion perceptual losses, thereby improving the smoothness and naturalness of motion generation. Extensive experiments demonstrate a significant improvement in our approach over the existing state-of-the-art methods. We plan to release our codes and models soon.

Zhen Liu, Xinyu Ning, Zhe Hu et al.

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle in long-horizon, memory-dependent tasks with partial observability, occlusions, and multi-stage dependencies. Such tasks require not only precise visuomotor control, but also persistent memory, adaptive task decomposition, and explicit recovery from execution failures. To address these limitations, we propose a dual-system framework for long-horizon embodied manipulation. Our framework explicitly separates high-level semantic reasoning from low-level motor execution. A high-level planner, implemented as a VLM-based agentic module, maintains structured task memory and performs goal decomposition, outcome verification, and error-driven correction. A low-level executor, instantiated as a VLA-based visuomotor controller, carries out each sub-task through diffusion-based action generation conditioned on geometry-preserving filtered observations. Together, the two systems form a closed loop between planning and execution, enabling memory-aware reasoning, adaptive replanning, and robust online recovery. Experiments on representative RMBench tasks show that the proposed framework substantially outperforms representative baselines, achieving a 32.4% average success rate compared with 9.8% for the strongest baseline. Ablation studies further confirm the importance of structured memory and closed-loop recovery for long-horizon manipulation.