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It is highly desirable yet challenging to generate image captions that can describe novel objects which are unseen in caption-labeled training data, a capability that is evaluated in the novel object captioning challenge (nocaps). In this…

Despite the recent advancements of vision-language-action (VLA) models on a variety of robotics tasks, they suffer from critical issues such as poor generalizability to unseen tasks, due to their reliance on behavior cloning exclusively…

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…

Vision language action models (VLAs) are increasingly used for Physical AI, but deploying a pre-trained VLA model to unseen environments, embodiments, or tasks still requires adaptation. Parameter-efficient fine-tuning (PEFT), especially…

Visual prompting (VP) is an emerging parameter-efficient fine-tuning approach to adapting pre-trained vision models to solve various downstream image-classification tasks. However, there has hitherto been little systematic study of the…

Unified, generalizable semantic control in video generation remains a critical open challenge. Existing methods either introduce artifacts by enforcing inappropriate pixel-wise priors from structure-based controls, or rely on…

We propose LCLA (Language-Conditioned Latent Alignment), a framework for vision-language navigation that learns modular perception-action interfaces by aligning sensory observations to a latent representation of an expert policy. The expert…

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-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

Vision-Language-Action (VLA) models have recently shown strong decision-making capabilities in autonomous driving. However, existing VLAs often struggle with achieving efficient inference and generalizing to novel autonomous vehicle…

Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA systems often lose key capabilities…

Vision-language-action (VLA) models provide a powerful approach to training control policies for physical systems, such as robots, by combining end-to-end learning with transfer of semantic knowledge from web-scale vision-language model…

Recent Vision-Language-Action (VLA) models have made impressive progress toward general-purpose robotic manipulation by post-training large Vision-Language Models (VLMs) for action prediction. Yet most VLAs entangle perception and control…

We propose a standalone autoregressive (AR) Action Expert that generates actions as a continuous causal sequence while conditioning on refreshable vision-language prefixes. In contrast to existing Vision-Language-Action (VLA) models and…

Recent advances in Vision-Language-Action (VLA) models have enabled robotic agents to integrate multimodal understanding with action execution. However, our empirical analysis reveals that current VLAs struggle to allocate visual attention…

The effectiveness of scaling up training data in robotic manipulation is still limited. A primary challenge in manipulation is the tasks are diverse, and the trained policy would be confused if the task targets are not specified clearly.…

Humans excel at efficiently navigating through crowds without collision by focusing on specific visual regions relevant to navigation. However, most robotic visual navigation methods rely on deep learning models pre-trained on vision tasks,…

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…

Computer Use Agents (CUAs) translate natural-language instructions into Graphical User Interface (GUI) actions such as clicks, keystrokes, and scrolls by relying on a Vision-Language Model (VLM) to interpret screenshots and predict grounded…

In recent years, much progress has been made in learning robotic manipulation policies that follow natural language instructions. Such methods typically learn from corpora of robot-language data that was either collected with specific tasks…