Related papers: InternVLA-A1: Unifying Understanding, Generation a…
Vision-Language-Action models have emerged as a promising paradigm for robotic manipulation by unifying perception, language grounding, and action generation. However, they often struggle in scenarios requiring precise spatial…
Vision-Language-Action~(VLA) models have shown strong potential for general-purpose robotic manipulation, yet they still struggle to generalize to unseen tasks that necessitate transferring relevant experience across objects, scenes, and…
This paper tackles spatial perception and manipulation challenges in Vision-Language-Action (VLA) models. To address depth ambiguity from monocular input, we leverage a pre-trained multi-view diffusion model to synthesize latent novel views…
The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…
Recent advances in vision-language models (VLMs) have enabled robots to follow open-ended instructions and demonstrate impressive commonsense reasoning. However, current vision-language-action (VLA) frameworks primarily rely on static…
Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify…
Manipulating dynamic objects remains an open challenge for Vision-Language-Action (VLA) models, which, despite strong generalization in static manipulation, struggle in dynamic scenarios requiring rapid perception, temporal anticipation,…
Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…
Multi-task ``vision-language-action'' (VLA) models have recently demonstrated increasing promise as generalist foundation models for robotics, achieving non-trivial performance out of the box on new tasks in new environments. However, for…
Action Quality Assessment (AQA) has broad applications in physical therapy, sports coaching, and competitive judging. Although Vision Language Models (VLMs) hold considerable promise for AQA, their actual performance in this domain remains…
The rise of foundation models paves the way for generalist robot policies in the physical world. Existing methods relying on text-only instructions often struggle to generalize to unseen scenarios. We argue that interleaved image-text…
Force/torque feedback can substantially improve Vision-Language-Action (VLA) models on contact-rich manipulation, but most existing approaches fuse all modalities at a single operating frequency. This design ignores the mismatched sampling…
Vision-language-action (VLA) models have advanced robot manipulation through large-scale pretraining, but real-world deployment remains challenging due to partial observability and delayed feedback. Reinforcement learning addresses this via…
Humans act with context and intention, with reasoning playing a central role. While internet-scale data has enabled broad reasoning capabilities in AI systems, grounding these abilities in physical action remains a major challenge. We…
Vision-Language-Action (VLA) models are a promising path to realizing generalist embodied agents that can quickly adapt to new tasks, modalities, and environments. However, methods for interpreting and steering VLAs fall far short of…
A fundamental requirement for real-world robotic deployment is the ability to understand and respond to natural language instructions. Existing language-conditioned manipulation tasks typically assume that instructions are perfectly aligned…
Vision-Language-Action (VLA) models have emerged as a promising paradigm for robotic manipulation by leveraging pre-trained vision-language representations. However, current VLA training methods suffer from two critical limitations: poor…
Current Vision-Language-Action (VLA) models rely primarily on RGB perception, preventing them from capturing modalities such as thermal signals that are imperceptible to conventional visual sensors. Moreover, end-to-end generative policies…
Vision-Language-Action (VLA) models have recently become highly prominent in the field of robotics. Leveraging vision-language foundation models trained on large-scale internet data, the VLA model can generate robotic actions directly from…
Since current Vision-Language-Action (VLA) systems suffer from limited spatial perception and the absence of memory throughout manipulation, we investigate visual anchors as a means to enhance spatial and temporal reasoning within VLA…