Related papers: Confidence Calibration in Vision-Language-Action M…

Large language models (LLMs) have demonstrated remarkable capabilities across a wide range of tasks in various domains. Despite their impressive performance, they can be unreliable due to factual errors in their generations. Assessing their…

The rapid progress of auto-regressive vision-language models (VLMs) has inspired growing interest in vision-language-action models (VLA) for robotic manipulation. Recently, masked diffusion models, a paradigm distinct from autoregressive…

Vision-Language-Action (VLA) models have emerged as a powerful framework that unifies perception, language, and control, enabling robots to perform diverse tasks through multimodal understanding. However, current VLA models typically…

In this work, we highlight vulnerabilities in robotic systems integrating large language models (LLMs) and vision-language models (VLMs) due to input modality sensitivities. While LLM/VLM-controlled robots show impressive performance across…

Vision-Language-Action (VLA) models have recently emerged as powerful general-purpose policies for robotic manipulation, benefiting from large-scale multi-modal pre-training. However, they often fail to generalize reliably in…

We adapt a pre-trained Vision-Language-Action (VLA) model (Open-VLA) for dexterous human-robot collaboration with minimal language prompting. Our approach adds (i) FiLM conditioning to visual backbones for task-aware perception, (ii) an…

Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in robotic manipulation,enabling robots to execute natural language commands through end-to-end learning from visual observations.However, deploying large-scale…

As large language models attract increasing attention and find widespread application, concurrent challenges of reliability also arise at the same time. Confidence calibration, an effective analysis method for gauging the reliability of…

Vision-Language-Action (VLA) models have recently advanced robotic manipulation by translating natural-language instructions and visual observations into control actions. However, existing VLAs are primarily trained on successful expert…

Vision-language-action (VLA) models extend vision-language models (VLM) by integrating action generation modules for robotic manipulation. Leveraging the strengths of VLM in vision perception and instruction understanding, VLA models…

Vision-Language-Action (VLA) models have demonstrated remarkable generalization capabilities in robotic manipulation tasks, yet their substantial computational overhead remains a critical obstacle to real-world deployment. Improving…

Pre-trained language models (PLMs) may fail in giving reliable estimates of their predictive uncertainty. We take a close look into this problem, aiming to answer two questions: (1) Do PLMs learn to become calibrated in the training…

Vision-language-action (VLA) models show potential for general robotic tasks, but remain challenging in spatiotemporally coherent manipulation, which requires fine-grained representations. Typically, existing methods embed 3D positions into…

Reinforcement learning (RL) enables high-frequency, closed-loop control for robotic manipulation, but scaling to long-horizon tasks with sparse or imperfect rewards remains difficult due to inefficient exploration and poor credit…

Due to their ability of follow natural language instructions, vision-language-action (VLA) models are increasingly prevalent in the embodied AI arena, following the widespread success of their precursors -- LLMs and VLMs. In this paper, we…

Vision-Language Models (VLMs) have emerged as the dominant approach for zero-shot recognition, adept at handling diverse scenarios and significant distribution changes. However, their deployment in risk-sensitive areas requires a deeper…

Vision-Language-Action (VLA) models improve action generation by conditioning policies on rich vision-language information. However, current auto-regressive policies are constrained by three bottlenecks: (1) architectural bias drives models…

Leveraging temporal context is crucial for success in partially observable robotic tasks. However, prior work in behavior cloning has demonstrated inconsistent performance gains when using multi-frame observations. In this paper, we…

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 are promising for generalist robot manipulation but remain brittle in out-of-distribution (OOD) settings, especially with limited real-robot data. To resolve the generalization bottleneck, we introduce a…