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Predicting temporal progress from visual trajectories is important for intelligent robots that can learn, adapt, and improve. However, learning such progress estimator, or temporal value function, across different tasks and domains requires…

State-of-the-art pre-trained language models (PLMs) outperform other models when applied to the majority of language processing tasks. However, PLMs have been found to degrade in performance under distribution shift, a phenomenon that…

Large Language Models (LLMs) offer promising capabilities for tackling complex reasoning tasks, including optimization problems. However, existing methods either rely on prompt engineering, which leads to poor generalization across problem…

State-of-the-art (SOTA) reinforcement learning (RL) methods have enabled vision-language model (VLM) agents to learn from interaction with online environments without human supervision. However, these methods often struggle with learning…

Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning,…

Recently, action-based decision-making in open-world environments has gained significant attention. Visual Language Action (VLA) models, pretrained on large-scale web datasets, have shown promise in decision-making tasks. However, previous…

Robot action planning in the real world is challenging as it requires not only understanding the current state of the environment but also predicting how it will evolve in response to actions. Vision-language-action (VLA), which repurpose…

Vision-Language-Action (VLA) models have shown promise in robot manipulation but often struggle to generalize to new instructions or complex multi-task scenarios. We identify a critical pathology in current training paradigms where…

Vision-Language Models (VLMs) have demonstrated remarkable generalization capabilities across a wide range of tasks. However, their performance often remains suboptimal when directly applied to specific downstream scenarios without…

Vision-Language-Action (VLA) models have emerged as a promising framework that unifies perception, reasoning, and control for robot manipulation by adapting pretrained vision-language models (VLMs) to action prediction. However, VLM-derived…

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

Process Reward Models (PRMs) provide step-level supervision that improves the reliability of reasoning in large language models. While PRMs have been extensively studied in text-based domains, their extension to Vision Language Models…

Recent large pretrained models such as LLMs (e.g., GPT series) and VLAs (e.g., OpenVLA) have achieved notable progress on multimodal tasks, yet they are built upon a multi-input single-output (MISO) paradigm. We show that this paradigm…

Integration of diverse data will be a pivotal step towards improving scientific explorations in many disciplines. This work establishes a vision-language model (VLM) that encodes videos with text input in order to classify various behaviors…

Recent vision-language-action (VLA) models for multi-task robot manipulation often rely on fixed camera setups and shared visual encoders, which limit their performance under occlusions and during cross-task transfer. To address these…

Foundational Vision-Language Models (VLMs) excel across diverse tasks, but adapting them to new domains without forgetting prior knowledge remains a critical challenge. Continual Learning (CL) addresses this challenge by enabling models to…

Reinforcement learning (RL) can refine Vision-Language-Action (VLA) policies beyond behavior cloning, but real-world RL remains expensive due to extensive rollouts, resets, supervision, and safety risks. Action-conditioned video world…

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…

While open sourced Vision-Language Models (VLMs) have proliferated, selecting the optimal pretrained model for a specific downstream task remains challenging. Exhaustive evaluation is often infeasible due to computational constraints and…

Recent vision-language-action (VLA) models built upon pretrained vision-language models (VLMs) have achieved significant improvements in robotic manipulation. However, current VLAs still suffer from low sample efficiency and limited…