Author

Qisheng Wen

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Preprint Nov 2026

VLALagBench: Understanding When and Why VLA Inference Latency Matters

Vision-language-action (VLA) models offer a promising path toward general-purpose robot manipulation. While inference latency can affect task success in a constantly evolving physical world, the relationship between latency and task success rate remains poorly understood. In this paper, we introduce VLALagBench, a comp...

Qi-Sheng Wen, Bo-Rui Xu, Hussein Amro et al. · 0 citations

Open access Aug 2026

G3M-SLAM: Anchor-Guided Gaussian Memory for UAV-Oriented Dense SLAM with Representation-Level Submap Fusion

G3M-SLAM is proposed, an anchor-guided Gaussian memory framework for UAV-oriented dense SLAM with representation-level submap fusion with recovery from split-agent degradation and compact representation exchange rather than an improvement over full-sequence single-agent processing.

Tianyu Yang, Mingyang Zhai, Qisheng Wen et al. · Drones · 0 citations