Renjun Wu

Xukun Luan, Jinyan Liu, Xuesong Li et al.

Vision-Language-Action (VLA) models enable end-to-end robot control and have garnered widespread attention. However, the memorization of training data inherent to VLA, coupled with the high cost of robotic data acquisition, raises serious concerns regarding data privacy leakage and intellectual property infringement. Membership inference attacks (MIAs) aim to determine whether a given sample belongs to the training set. While representing a significant privacy threat, this attack remains underexplored in the context of VLA models. To bridge this gap, we propose VLALeaks, which is based on attention discrepancies in VLA models. We reveal, for the first time, the privacy vulnerabilities of VLA models. Specifically, it comprises a two-stage process: (1) membership feature extraction, and (2) attack model construction. Experimental results across multiple VLA benchmarks demonstrate that VLALeaks readily reveals membership information and achieves optimal attack AUC and TPR@1\%FPR, highlighting the privacy vulnerabilities in current VLA model deployments. Our work is the first systematic study of MIAs on VLA models, aiming to provide insights for secure and trustworthy VLA models.

Xiangyu Zhu, Renjun Wu, Luzhou Ge et al.

Whole-body mobile manipulation requires coordinating mobile base and manipulator under shifting viewpoints, posing challenges in geometric perception and action generation. Current policies either rely on 2D features or sparse 3D representations that lack dense spatial structure, and typically encode arm and base within one action vector that ignores their distinct control demands. Moreover, existing dense fusion strategies risk corrupting pretrained representations under noisy depth while incurring heavy computational overhead. We present GeoHAT, an end-to-end diffusion-based framework built on a simple principle: geometry should be injected only where reliable and attended to only where needed. GeoHAT employs a lightweight Fourier spatial encoder that maps dense per-pixel 3D coordinates into geometric tokens without an additional 3D vision backbone. These tokens are then selectively injected into vision foundation model features through per-token gated fusion modulated by depth validity, preserving the semantic prior while enriching spatial understanding. For action generation, a Hybrid Whole-Body Action Decoder decomposes arm and base into distinct subspaces and lets each action modality attend to its task-relevant visual context through sparse cross-attention, while causal temporal modeling captures intra-timestep coordination and inter-timestep dependencies. Experiments on the ManiSkill-HAB simulation benchmark demonstrate that GeoHAT achieves a 79.3% mean success rate, surpassing the strongest baseline by 23.7%. Furthermore, real-world experiments on diverse tasks also confirm consistent improvements over all baselines.

Xinzhang Yang, Renjun Wu, Jinyan Liu et al.

Generalist robot policies built upon 2D visual representations excel at semantic reasoning but inherently lack the explicit 3D spatial awareness required for high-precision tasks. Existing 3D integration methods struggle to bridge this gap due to the structural irregularity of sparse point clouds and the geometric distortion introduced by multi-view orthographic rendering. To overcome these barriers, we present ReMAP-DP, a novel framework synergizing standardized perspective reprojection with a structure-aware dual-stream diffusion policy. By coupling the re-projected views with pixel-aligned PointMaps, our dual-stream architecture leverages learnable modality embeddings to fuse frozen semantic features and explicit geometric descriptors, ensuring precise implicit patch-level alignment. Extensive experiments across simulation and real-world environments demonstrate ReMAP-DP's superior performance in diverse manipulation tasks. On RoboTwin 2.0, it attains a 59.3% average success rate, outperforming the DP3 baseline by +6.6%. On ManiSkill 3, our method yields a 28% improvement over DP3 on the geometrically challenging Stack Cube task. Furthermore, ReMAP-DP exhibits remarkable real-world robustness, executing high-precision and dynamic manipulations with superior data efficiency from only a handful of demonstrations. Project page is available at: https://icr-lab.github.io/ReMAP-DP/