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The ability to autonomously learn behaviors via direct interactions in uninstrumented environments can lead to generalist robots capable of enhancing productivity or providing care in unstructured settings like homes. Such uninstrumented…

Vision-language-action (VLA) models have advanced robot manipulation through large-scale pretraining, but real-world deployment remains challenging due to partial observability and delayed feedback. Reinforcement learning addresses this via…

Vision-language-action models (VLAs) have shown potential in leveraging pretrained vision-language models and diverse robot demonstrations for learning generalizable sensorimotor control. While this paradigm effectively utilizes large-scale…

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…

While Vision-Language-Action (VLA) models have revolutionized autonomous driving by unifying perception and planning, their reliance on explicit textual Chain-of-Thought (CoT) leads to semantic-perceptual decoupling and perceptual-symbolic…

Vision-Language-Action (VLA) policies excel in aligning language, perception, and robot control. However, most VLAs are trained purely by imitation, which overfits to demonstrations, and is brittle under distribution shift. Reinforcement…

Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA systems often lose key capabilities…

Contrastive learning (CL)-based self-supervised learning models learn visual representations in a pairwise manner. Although the prevailing CL model has achieved great progress, in this paper, we uncover an ever-overlooked phenomenon: When…

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…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Deep reinforcement learning (DRL) has achieved significant success in various robot tasks: manipulation, navigation, etc. However, complex visual observations in natural environments remains a major challenge. This paper presents…

Designing reward functions for continuous-control robotics often leads to subtle misalignments or reward hacking, especially in complex tasks. Preference-based RL mitigates some of these pitfalls by learning rewards from comparative…

The long-standing vision of general-purpose robots hinges on their ability to understand and act upon natural language instructions. Vision-Language-Action (VLA) models have made remarkable progress toward this goal, yet their generated…

Vision-Language-Action (VLA) models empower robots to understand and execute tasks described by natural language instructions. However, a key challenge lies in their ability to generalize beyond the specific environments and conditions they…

Vision-language-action (VLA) models have recently emerged as a promising paradigm for robotic control, enabling end-to-end policies that ground natural language instructions into visuomotor actions. However, current VLAs often struggle to…

Recent text-only models demonstrate remarkable mathematical reasoning capabilities. Extending these to visual domains requires vision-language models to translate images into text descriptions. However, current models, trained to produce…

Vision-Language-Action (VLA) models leverage powerful perceptual priors from web-scale Vision-Language Model (VLM) pre-training, yet they remain surprisingly brittle in practice, frequently failing at simple robotic tasks. To mitigate this,…

Integrating supervised contrastive loss to cross entropy-based communication has recently been proposed as a solution to address the long-tail learning problem. However, when the class imbalance ratio is high, it requires adjusting the…

Visual-Language-Action (VLA) models represent a paradigm shift in embodied AI, yet existing frameworks often struggle with imprecise spatial perception, suboptimal multimodal fusion, and instability in reinforcement learning. To bridge…

Vision-Language-Action (VLA) models have emerged as a promising framework for enabling generalist robots capable of perceiving, reasoning, and acting in the real world. These models usually build upon pretrained Vision-Language Models…