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Achieving robot transparency is a critical step toward effective human-robot collaboration. To be transparent, a robot's natural language communication must be consistent with its actions and explicitly grounded in the task and environment.…

Large displacement optical flow is an integral part of many computer vision tasks. Variational optical flow techniques based on a coarse-to-fine scheme interpolate sparse matches and locally optimize an energy model conditioned on colour,…

To operate effectively in the real world, robots should integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to…

The composition of training data mixtures is critical for effectively training large language models (LLMs), as it directly impacts their performance on downstream tasks. Our goal is to identify an optimal data mixture to specialize an LLM…

Recent work shows that flow matching can be effective for scalar Q-value function estimation in reinforcement learning (RL), but it remains unclear why or how this approach differs from standard critics. Contrary to conventional belief, we…

Existing imitation learning methods enable robots to interact autonomously with the physical environment. However, contact-rich manipulation tasks remain a significant challenge due to complex contact dynamics that demand high-precision…

Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video…

Vision-Language-Action (VLA) models are promising for generalist robot control, but on-robot deployment is bottlenecked by real-time inference under tight cost and energy budgets. Most prior evaluations rely on desktop-grade GPUs, obscuring…

Vision-language-action (VLA) models have shown great potential in building generalist robots, but still face a dilemma-misalignment of 2D image forecasting and 3D action prediction. Besides, such a vision-action entangled training manner…

Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to…

In Vision-Language-Actionf(VLA) models, robustness to real-world perturbations is critical for deployment. Existing methods target simple visual disturbances, overlooking the broader multi-modal perturbations that arise in actions,…

Vision-Language-Action (VLA) policies are typically deployed with asynchronous inference: the robot executes a previously predicted action chunk while the model computes the next one. This creates a prediction-execution misalignment: the…

Despite remarkable progress in Vision--Language--Action (VLA) models, a central bottleneck remains underexamined: the data infrastructure that underlies embodied learning. In this survey, we argue that future advances in VLA will depend…

Denoising-based generative models, particularly diffusion and flow matching algorithms, have achieved remarkable success. However, aligning their output distributions with complex downstream objectives, such as human preferences,…

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and…

This study evaluates two leading approaches for teaching construction robots new skills to understand their applicability for construction automation: a Vision-Language-Action (VLA) model and Reinforcement Learning (RL) methods. The goal is…

Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…

Diffusion models with large-scale pre-training have achieved significant success in the field of visual content generation, particularly exemplified by Diffusion Transformers (DiT). However, DiT models have faced challenges with quadratic…

Vision-Language-Action (VLA) models such as $\pi_0$ have demonstrated remarkable generalization across diverse fixed-base manipulators. However, transferring these foundation models to aerial platforms remains an open challenge due to the…

We propose Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation (Bi-VLA), a novel framework that extends bilateral control-based imitation learning to handle more than one task within a single model.…