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Vision-Language-Action (VLA) models benefit from chain-of-thought (CoT) reasoning, but existing approaches incur high inference overhead and rely on discrete reasoning representations that mismatch continuous perception and control. We…

State-of-the-art Vision-Language-Action (VLA) models excel at semantic generalization but struggle to generalize to unseen physical motions in novel environments. We introduce DreamZero, a World Action Model (WAM) built upon a pretrained…

Vision-Language-Action (VLA) models demonstrate significant potential for developing generalized policies in real-world robotic control. This progress inspires researchers to explore fine-tuning these models with Reinforcement Learning…

Robot manipulation learning from human demonstrations offers a rapid means to acquire skills but often lacks generalization across diverse scenes and object placements. This limitation hinders real-world applications, particularly in…

Vision-Language-Action models (VLAs) are becoming increasingly capable across diverse robotic tasks. However, their real-world deployment remains slow and inefficient: demonstration videos are often sped up by 5-10x to appear smooth, with…

Vision-Language-Action (VLA) Models have become the mainstream solution for robot control, but suffer from slow inference speeds. Speculative Decoding (SD) is a promising acceleration method which can be divided into two categories:…

Recent Vision-Language-Action (VLA) models have shown impressive flexibility and generalization, yet their deployment in robotic manipulation remains limited by heavy computational overhead and inference latency. In this work, we present…

Many robotic manipulation tasks require sensing and responding to force signals such as torque to assess whether the task has been successfully completed and to enable closed-loop control. However, current Vision-Language-Action (VLA)…

Vision-Language-Action (VLA) models built upon Chain-of-Thought (CoT) have achieved remarkable success in advancing general-purpose robotic agents, owing to its significant perceptual comprehension. Recently, since text-only CoT struggles…

Reinforcement learning (RL) can enable task-oriented dialogue systems to steer the conversation towards successful task completion. In an end-to-end setting, a response can be constructed in a word-level sequential decision making process…

Achieving generalizable manipulation in unconstrained environments requires the robot to proactively resolve information uncertainty, i.e., the capability of active perception. However, existing methods are often confined in limited types…

Multimodal Large Language Models have demonstrated remarkable capabilities in video understanding, yet face prohibitive computational costs and performance degradation from ''context rot'' due to massive visual token redundancy. Existing…

Vision-Language-Action models (VLAs) represent a significant frontier in embodied intelligence, aiming to bridge digital knowledge with physical-world interaction. Despite their remarkable performance, foundational VLAs are hindered by the…

Recent Vision-Language-Action (VLA) models equipped with Flow Matching (FM) action heads achieve state-of-the-art performance in complex robot manipulation. However, the multi-step iterative ODE solving required by FM introduces inference…

We propose Heterogeneous Masked Autoregression (HMA) for modeling action-video dynamics to generate high-quality data and evaluation in scaling robot learning. Building interactive video world models and policies for robotics is difficult…

Visual Language Action (VLA) models are a multi-modal class of Artificial Intelligence (AI) systems that integrate visual perception, natural language understanding, and action planning to enable agents to interpret their environment,…

Large vision-language models (LVLMs) have demonstrated remarkable capabilities in multimodal understanding tasks. However, the increasing demand for high-resolution image and long-video understanding results in substantial token counts,…

Vision-Language-Action (VLA) models have shown remarkable progress in embodied tasks recently, but most methods process visual observations independently at each timestep. This history-agnostic design treats robot manipulation as a Markov…

Vision-Language-Action (VLA) models offer a unified framework for robotic manipulation by integrating visual perception, language understanding, and control generation. However, existing VLA systems still struggle to generalize across…

The increasing prevalence of large language models (LLMs) such as GPT-4 in various applications has led to a surge in the size of prompts required for optimal performance, leading to challenges in computational efficiency. Prompt…