Related papers: Robotic VLA Benefits from Joint Learning with Moti…

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…

Despite progress, Vision-Language-Action models (VLAs) are limited by a scarcity of large-scale, diverse robot data. While human manipulation videos offer a rich alternative, existing methods are forced to choose between small,…

Vision-Language-Action (VLA) models have emerged as a powerful framework that unifies perception, language, and control, enabling robots to perform diverse tasks through multimodal understanding. However, current VLA models typically…

Prevalent Vision-Language-Action (VLA) models are typically built upon Multimodal Large Language Models (MLLMs) and demonstrate exceptional proficiency in semantic understanding, but they inherently lack the capability to deduce physical…

Recent advances in vision-language-action (VLA) models have motivated the extension of their capabilities to embodied settings, where reinforcement learning (RL) offers a principled way to optimize task success through interaction. However,…

Augmenting vision-language-action models (VLAs) with world models is promising for robotic policy learning but faces challenges in jointly predicting states and actions due to the modality gap. To address this, we propose DUal-STream…

Vision-Language-Action (VLA) models aim to unify perception, language understanding, and action generation, offering strong cross-task and cross-scene generalization with broad impact on embodied AI. However, current VLA models often lack…

Vision-Language-Action (VLA) models map visual observations and language instructions directly to robotic actions. While effective for simple tasks, standard VLA models often struggle with complex, multi-step tasks requiring logical…

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…

Predictive foresight is important to intelligent embodied agents. Since the motor execution of a robot is intrinsically constrained by its visual perception of environmental geometry, effectively anticipating the future requires capturing…

Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can't large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in…

Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation. However, previous approaches predominantly rely on the general comprehension capabilities of vision-language…

Vision-language-action (VLA) models provide a promising foundation for general-purpose robotics. However, their successful deployment in real-world scenarios requires the ability to continually acquire new skills while retaining previously…

Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specific design. Recent vision-language-action (VLA) models infer…

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The performance of VLA models can be improved by integrating with action chunking, a critical technique for effective control.…

Vision-Language-Action (VLA) models, particularly diffusion-based architectures, demonstrate transformative potential for embodied intelligence but are severely hampered by high computational and memory demands stemming from extensive…

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…

Equipping embodied agents with the ability to reason about tasks, foresee physical outcomes, and generate precise actions is essential for general-purpose manipulation. While recent Vision-Language-Action (VLA) models have leveraged…

Recent advances in Vision-Language-Action (VLA) models demonstrate that visual signals can effectively complement sparse action supervisions. However, letting VLA directly predict high-dimensional visual states can distribute model capacity…

Joint machine learning models that allow synthesizing and classifying data often offer uneven performance between those tasks or are unstable to train. In this work, we depart from a set of empirical observations that indicate the…