Wenhao Li

Chengcheng Wang, Tingzhang Luo, Wenhao Li et al.

Diffusion language models (DLLMs) generate text by iteratively denoising masked positions, exposing a trajectory of predictive distributions rather than a single instantaneous belief. Most existing decoders ignore this trajectory and commit tokens from the current snapshot alone, conflating confidence with commitment readiness: a transient top-1 peak under incomplete context can be locked in, while candidates with consistent cross-step support are delayed. We propose Trajectory-Aware Commit Gating (TACG), a training-free gate-level decoder that anchors token identities to the base posterior and uses trajectory-aware signals only to decide whether the current proposal is ready to commit. TACG combines Temporal Implicit Logits Guidance (TILG), which keeps an exponential moving average of past logits as a self-reference and contrasts the current logits against this reference in natural-parameter space, with a History Gate (HG) that enforces short-term proposal persistence before commitment. Together with a capped extra-promotion budget, these components yield a stability-constrained commit rule without auxiliary networks or extra forward passes. We evaluate TACG on LLaDA, Dream, and LLaDA2-Mini across code (HumanEval, MBPP) and math (GSM8K, MATH500) benchmarks; it typically improves or preserves accuracy while reducing denoising steps and increasing tokens per forward (TPF). The code is publicly available at https://github.com/Clarence-CV/TACG-DLLM.

Wenhao Li, Xueying Jiang, Quanhao Qian et al.

Real-world robot deployment rarely maintains the training-stage camera setup, where cameras often experience repositioning or remounting depending on actual scenarios. Existing view-robust Vision-Language-Action (VLA) policies tolerate such camera variations only when the camera extrinsics are explicitly provided, making them fragile and hard to use especially when view robustness is critical. We argue that the policy should not be told where the camera is, but rather figure it out by itself. To this end, we introduce Camera-Centric VLA (CamVLA), a new VLA model that decouples manipulation controls from camera geometry by predicting (i) a camera-centric end-effector action expressed in the local camera frame, and (ii) a 6-DoF hand-eye matrix relating cameras to the robot base. A deterministic geometric transformation composes the two predictions into a robot base-frame action. This disentangles how I should move in pose-independent camera-centric action generation from where I am looking from in camera-perspective geometric grounding. The resulting policy is calibration-free, depth-free, and single-view, requiring only a single monocular RGB image as the visual observation and task instruction at deployment. Evaluations in both simulation and real-world robot data show that CamVLA consistently improves success rates across diverse unseen viewpoints. Project page: https://alibaba-damo-academy.github.io/CamVLA/.