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We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates…
Foundation models (FMs) are increasingly used to bridge language and action in embodied agents, yet the operational characteristics of different FM integration strategies remain under-explored -- particularly for complex instruction…
Visual Foundation Models (VFMs), such as DINO and CLIP, excel in semantic understanding of images but exhibit limited spatial reasoning capabilities, which limits their applicability to embodied systems. As a result, recent work…
The rapid advancement of generative AI and multi-modal foundation models has shown significant potential in advancing robotic manipulation. Vision-language-action (VLA) models, in particular, have emerged as a promising approach for…
Vision-language models (VLMs) have advanced multimodal reasoning but still face challenges in spatial reasoning for 3D scenes and complex object configurations. To address this, we introduce SpatialViLT, an enhanced VLM that integrates…
Open-vocabulary 3D visual grounding aims to localize target objects based on free-form language queries, which is crucial for embodied AI applications such as autonomous navigation, robotics, and augmented reality. Learning 3D language…
Vision-Language-Action (VLA) models built on pretrained Vision-Language Models (VLMs) show strong potential but are limited in practicality due to their large parameter counts. To mitigate this issue, using a lightweight VLM has been…
Many Vision-Language-Action (VLA) models flatten image patches into a 1D token sequence, weakening the 2D spatial cues needed for precise manipulation. We introduce IVRA, a lightweight, training-free method that improves spatial…
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…
Space grounding refers to localizing a set of spatial references described in natural language instructions. Traditional methods often fail to account for complex reasoning -- such as distance, geometry, and inter-object relationships --…
In this paper, we propose GTA-VLA(Guide, Think, Act), an interactive Vision-Language-Action (VLA) framework that enables spatially steerable embodied reasoning by allowing users to guide robot policies with explicit visual cues. Existing…
The ability to efficiently and reliably learn new tasks has been a foundational challenge in robotics. Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse manipulation tasks, yet pretrained policies…
Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…
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…
Embodied intelligence for contact-rich manipulation has predominantly relied on position control, while explicit awareness and regulation of interaction forces remain under-explored, limiting stability, precision, and robustness in…
While Vision-Language-Action (VLA) models have achieved remarkable success in ground-based embodied intelligence, their application to Aerial Manipulation Systems (AMS) remains a largely unexplored frontier. The inherent characteristics of…
Vision-Language-Action (VLA) models offer promising capabilities for autonomous driving through multimodal understanding. However, their utilization in safety-critical scenarios is constrained by inherent limitations, including imprecise…
Vision-Language-Action (VLA) models frequently encounter challenges in generalizing to real-world environments due to inherent discrepancies between observation and action spaces. Although training data are collected from diverse camera…
Vision-Language-Action (VLA) models often fail to generalize to unseen camera viewpoints, a limitation stemming from their difficulty in inferring robust 3D geometry from 2D images. We introduce GeoAware-VLA, a simple yet effective approach…
Vision-Language-Action (VLA) models are receiving increasing attention for their ability to enable robots to perform complex tasks by integrating visual context with linguistic commands. However, achieving efficient real-time performance…