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Vision language action (VLA) models enable generalist robotic agents but often exhibit language ignorance, relying on visual shortcuts and remaining insensitive to instruction changes. We present Prospective Grounding and Alignment VLA…

Vision-Language Models like GPT-4, LLaVA, and CogVLM have surged in popularity recently due to their impressive performance in several vision-language tasks. Current evaluation methods, however, overlook an essential component: uncertainty,…

Vision-Language-Action (VLA) models have demonstrated strong performance in robotic manipulation, yet their closed-loop deployment is hindered by the high latency and compute cost of repeatedly running large vision-language backbones at…

Vision-language models, which integrate computer vision and natural language processing capabilities, have demonstrated significant advancements in tasks such as image captioning and visual question and answering. However, similar to…

Robotic manipulation is a fundamental component of automation. However, traditional perception-planning pipelines often fall short in open-ended tasks due to limited flexibility, while the architecture of a single end-to-end…

Vision-Language-Action (VLA) models often suffer from performance degradation under distribution shifts, as they struggle to learn generalized behavior representations across varying environments. While existing approaches attempt to…

Recent advances in robot manipulation have leveraged pre-trained vision-language models (VLMs) and explored integrating 3D spatial signals into these models for effective action prediction, giving rise to the promising…

Vision-Language-Action (VLA) models enable robots to perform manipulation tasks directly from natural language instructions and are increasingly viewed as a foundation for generalist robotic policies. However, their reliability under…

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,…

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 Models (VLMs) are powerful yet computationally intensive for widespread practical deployments. To address such challenge without costly re-training, post-training acceleration techniques like quantization and token reduction…

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…

General-purpose robots must master long-horizon manipulation, defined as tasks involving multiple kinematic structure changes (e.g., attaching or detaching objects) in unstructured environments. While Vision-Language-Action (VLA) models…

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…

Confidence estimation for Vision-Language-Action (VLA) models is essential for robots to perform manipulation tasks in the open world, providing crucial signals for risk-sensitive decision-making and failure anticipation. Existing…

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…

Vision-Language-Action (VLA) models have demonstrated strong multi-modal reasoning capabilities, enabling direct action generation from visual perception and language instructions in an end-to-end manner. However, their substantial…

In this paper, we introduce a novel kinematics-rich vision-language-action (VLA) task, in which language commands densely encode diverse kinematic attributes (such as direction, trajectory, orientation, and relative displacement) from…

Robot foundation models, particularly Vision-Language-Action (VLA) models, have garnered significant attention for their ability to enhance robot policy learning, greatly improving robot's generalization and robustness. OpenAI's recent…

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…