Related papers: ReconVLA: Reconstructive Vision-Language-Action Mo…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

Built upon language and vision foundation models with strong generalization ability and trained on large-scale robotic data, Vision-Language-Action (VLA) models have recently emerged as a promising approach to learning generalist robotic…

Vision-Language Models (VLMs) have emerged as a promising approach to address the data scarcity challenge in robotics, enabling the development of generalizable visuomotor control policies. While models like OpenVLA showcase the potential…

Vision-language-action models (VLAs) have become increasingly popular in robot manipulation for their end-to-end design and remarkable performance. However, existing VLAs rely heavily on vision-language models (VLMs) that only support…

One promise that Vision-Language-Action (VLA) models hold over traditional imitation learning for robotics is to leverage the broad generalization capabilities of large Vision-Language Models (VLMs) to produce versatile, "generalist" robot…

Latent Action Models (LAMs) have emerged as an effective paradigm for handling heterogeneous datasets during Vision-Language-Action (VLA) model pretraining, offering a unified action space across embodiments. However, existing LAMs often…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for robotic manipulation, in which reliable action prediction critically depends on accurately interpreting and integrating visual observations conditioned on…

Vision-Language-Action (VLA) models typically bridge the gap between perceptual and action spaces by pre-training a large-scale Vision-Language Model (VLM) on robotic data. While this approach greatly enhances performance, it also incurs…

Recent vision-language-action (VLA) models rely on 2D inputs, lacking integration with the broader realm of the 3D physical world. Furthermore, they perform action prediction by learning a direct mapping from perception to action,…

We propose a standalone autoregressive (AR) Action Expert that generates actions as a continuous causal sequence while conditioning on refreshable vision-language prefixes. In contrast to existing Vision-Language-Action (VLA) models and…

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 models have achieved remarkable progress in robotic manipulation, yet they suffer from a critical limitation: a lack of 3D scene understanding. This deficiency manifests as three intertwined challenges: weak…

Current vision-language-action (VLA) models, pre-trained on large-scale robotic data, exhibit strong multi-task capabilities and generalize well to variations in visual and language instructions for manipulation. However, their success rate…

Vision-language-action (VLA) models perform well on training-seen robotic tasks but struggle to generalize to unseen scenes and objects. A key limitation lies in their implicit visual representations, which entangle object appearance,…

Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently, they struggle with contact-rich manipulation tasks that…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

Recent studies have successfully integrated large vision-language models (VLMs) into low-level robotic control by supervised fine-tuning (SFT) with expert robotic datasets, resulting in what we term vision-language-action (VLA) models.…

Vision-Language-Action (VLA) models hold great promise for general-purpose robotic intelligence, yet scaling up such models is severely bottlenecked by the high cost of acquiring annotated training data. Fortunately, vision-equipped robots…

Force/torque feedback can substantially improve Vision-Language-Action (VLA) models on contact-rich manipulation, but most existing approaches fuse all modalities at a single operating frequency. This design ignores the mismatched sampling…

Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…