Related papers: GRAPE: Generalizing Robot Policy via Preference Al…

Trustworthy robot behavior requires not only high levels of task success but also that the robot can reliably quantify how likely it is to succeed. To this end, we present a first-of-its-kind study of confidence calibration in…

Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing approaches rely on 2D visual inputs to perform actions in 3D…

Vision language action models (VLAs) are increasingly used for Physical AI, but deploying a pre-trained VLA model to unseen environments, embodiments, or tasks still requires adaptation. Parameter-efficient fine-tuning (PEFT), especially…

While Vision-Language-Action (VLA) models generalize well to generic instructions, they struggle with personalized commands such as "bring my cup," where the robot must act on one specific instance among visually similar objects. We study…

In order for robots to be useful, they must perform practically relevant tasks in the real world, outside of the lab. While vision-language-action (VLA) models have demonstrated impressive results for end-to-end robot control, it remains an…

The effectiveness of scaling up training data in robotic manipulation is still limited. A primary challenge in manipulation is the tasks are diverse, and the trained policy would be confused if the task targets are not specified clearly.…

Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…

Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by contact-rich, force-sensitive dynamics, but also by their…

Pre-trained vision-language models, such as CLIP, show impressive zero-shot recognition ability and can be easily transferred to specific downstream tasks via prompt tuning, even with limited training data. However, existing prompt tuning…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for generalist robotic manipulation. A common design in current architectures maps language instructions and visual observations to actions in a single forward pass.…

Generalization remains a fundamental challenge in robotic manipulation. To tackle this challenge, recent Vision-Language-Action (VLA) models build policies on top of Vision-Language Models (VLMs), seeking to transfer their open-world…

Large Vision-Language Action (VLA) models have shown significant potential for embodied AI. However, their predominant training via supervised fine-tuning (SFT) limits generalization due to susceptibility to compounding errors under…

Vision-language-action models (VLAs) show potential as generalist robot policies. However, these models pose extreme safety challenges during real-world deployment, including the risk of harm to the environment, the robot itself, and…

Vision-Language-Action (VLA) models have become a cornerstone in robotic policy learning, leveraging large-scale multimodal data for robust and scalable control. However, existing VLA frameworks primarily address short-horizon tasks, and…

The emergence of Vision Language Action (VLA) models marks a paradigm shift from traditional policy-based control to generalized robotics, reframing Vision Language Models (VLMs) from passive sequence generators into active agents for…

We present ProgVLA, a compact vision-language-action (VLA) model designed for reliable robot manipulation under tight compute and memory budgets. The model specifically focuses on efficiently processing long multi-modal sequences by…

Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing motor skills; instead, they expose a…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for robotic manipulation. However, existing post-training methods face a dilemma between stability and exploration: Supervised Fine-Tuning (SFT) is constrained by…

Current Vision-Language-Action (VLA) models predominantly rely on end-to-end fine-tuning. While effective, this paradigm compromises the inherent generalization capabilities of Vision-Language Models (VLMs) and incurs catastrophic…

Vision-Language-Action (VLA) models frequently encounter challenges in generalizing to real-world environments due to inherent discrepancies between observation and action spaces. Although training data are collected from diverse camera…