Author

Zi-Rui Zheng

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Preprint Sep 2026

H-VLA: Hierarchical Vision-Language-Action Model with Key-Action Reasoning and Motion Planning in a Unified Action Space

Vision-Language-Action (VLA) models have shown strong potential for robotic manipulation, but many existing methods still rely on direct mappings from language and visual observations to dense actions. This formulation can weaken the semantic reasoning capability inherited from pre-trained Vision-Language Models (VLMs)...

Xiong-Feng Peng, Lu Xu, Yan-Dong Wang et al. · 0 citations

Jul 2026

Multiscale neurobiological architecture of functional synchronization abnormalities in primary angle-closure glaucoma: an imaging-transcriptomics study.

BACKGROUND Primary angle-closure glaucoma (PACG) induces widespread central nervous system remodeling. However, the molecular, cellular, and neurochemical architectures driving macroscopic functional synchronization abnormalities in PACG remain unexplored. METHODS We employed a multiscale imaging-transcriptomics fram...

Xian-Sheng Liu, Zirui Zheng, Cao Jie · NeuroReport · 0 citations