Related papers: VLASCD: A Visual Language Action Model for Simulta…

Pre-trained Vision-Language-Action (VLA) models have achieved remarkable success in improving robustness and generalization for end-to-end robotic manipulation. However, these models struggle with long-horizon tasks due to their lack of…

Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety risks of real-world interaction. Training VLA models in…

Guiding users through complex procedural plans is an inherently multimodal task in which having visually illustrated plan steps is crucial to deliver an effective plan guidance. However, existing works on plan-following language models…

Vision and Language Pretraining has become the prevalent approach for tackling multimodal downstream tasks. The current trend is to move towards ever larger models and pretraining datasets. This computational headlong rush does not seem…

We introduce NVLM 1.0, a family of frontier-class multimodal large language models (LLMs) that achieve state-of-the-art results on vision-language tasks, rivaling the leading proprietary models (e.g., GPT-4o) and open-access models (e.g.,…

Multimodal Large Language Models (MLLMs), built on powerful language backbones, have enabled Multimodal In-Context Learning (MICL)-adapting to new tasks from a few multimodal demonstrations consisting of images, questions, and answers.…

Recent research looks to harness the general knowledge and reasoning of large language models (LLMs) into agents that accomplish user-specified goals in interactive environments. Vision-language models (VLMs) extend LLMs to multi-modal data…

While large language models (LLMs) have advanced procedural planning for embodied AI systems through strong reasoning abilities, the integration of multimodal inputs and counterfactual reasoning remains underexplored. To tackle these…

Vision-language-action (VLA) models represent an important step toward general-purpose robotic systems by integrating visual perception, language understanding, and action execution. However, systematic evaluation of these models,…

Multi-agent reinforcement learning (MARL) commonly relies on a centralized critic to estimate the value function. However, learning such a critic from scratch is highly sample-inefficient and often lacks generalization across environments.…

A fundamental objective of manipulation policy design is to endow robots to comprehend human instructions, reason about scene cues, and execute generalized actions in dynamic environments. Recent autoregressive vision-language-action (VLA)…

Vision-Language-Action (VLA) models are promising for generalist robot control, but on-robot deployment is bottlenecked by real-time inference under tight cost and energy budgets. Most prior evaluations rely on desktop-grade GPUs, obscuring…

In large language models (LLM), in-context learning (ICL) refers to performing new tasks by conditioning on small demonstrations provided in the input context. Recent advances in visual in-context learning (VICL) demonstrate promising…

Vision-language-action(VLA) models have shown great promise as generalist policies for a large range of relatively simple tasks. However, they demonstrate limited performance on more complex tasks, such as those requiring complex spatial or…

Recent advances in vision-language models (VLMs) have enabled robots to follow open-ended instructions and demonstrate impressive commonsense reasoning. However, current vision-language-action (VLA) frameworks primarily rely on static…

We propose Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation (Bi-VLA), a novel framework that extends bilateral control-based imitation learning to handle more than one task within a single model.…

Multimodal Large Language Models (MLLMs) have showcased impressive skills in tasks related to visual understanding and reasoning. Yet, their widespread application faces obstacles due to the high computational demands during both the…

Vision Language Action (VLA) models have recently shown great potential in bridging multimodal perception with robotic control. However, existing methods often rely on direct fine-tuning of pre-trained Vision-Language Models (VLMs), feeding…

The application of visual instruction tuning and other post-training techniques has significantly enhanced the capabilities of Large Language Models (LLMs) in visual understanding, enriching Vision-Language Models (VLMs) with more…

Vision-Language-Action (VLA) models, which integrate pretrained large Vision-Language Models (VLM) into their policy backbone, are gaining significant attention for their promising generalization capabilities. This paper revisits a…