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Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level knowledge and spatial awareness. To address these challenges, we…
Vision-Language-Action (VLA) models have demonstrated strong performance across a wide range of robotic manipulation tasks. Despite the success, extending large pretrained Vision-Language Models (VLMs) to the action space can induce…
Mixture of Experts (MoE) architectures have recently advanced the scalability and adaptability of large language models (LLMs) for continual multimodal learning. However, efficiently extending these models to accommodate sequential tasks…
Vision-language-action models (VLAs) have become increasingly popular in robot manipulation for their end-to-end design and remarkable performance. However, existing VLAs rely heavily on vision-language models (VLMs) that only support…
Vision-language-action (VLA) models have significantly advanced robotic learning, enabling training on large-scale, cross-embodiment data and fine-tuning for specific robots. However, state-of-the-art autoregressive VLAs struggle with…
Vision-Language-Action (VLA) models have achieved remarkable success in robotic manipulation. However, their robustness to linguistic nuances remains a critical, under-explored safety concern, posing a significant safety risk to real-world…
Most existing vision-language-action (VLA) models for robotic manipulation lack progress awareness, typically relying on hand-crafted heuristics for task termination. This limitation is particularly severe in long-horizon tasks involving…
Recent vision-language-action models (VLAs) build upon pretrained vision-language models and leverage diverse robot datasets to demonstrate strong task execution, language following ability, and semantic generalization. Despite these…
Vision-Language-Action (VLA) models have emerged as a popular paradigm for learning robot manipulation policies that can follow language instructions and generalize to novel scenarios. Recent works have begun to explore the incorporation of…
Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…
Vision-Language-Action (VLA) models mark a transformative advancement in artificial intelligence, aiming to unify perception, natural language understanding, and embodied action within a single computational framework. This foundational…
Trustworthy robot behavior requires not only high levels of task success but also that the robot can reliably quantify how likely it is to succeed. To this end, we present a first-of-its-kind study of confidence calibration in…
Coping with distributional shifts is an important part of transfer learning methods in order to perform well in real-life tasks. However, most of the existing approaches in this area either focus on an ideal scenario in which the data does…
Vision-Language-Action (VLA) models like OpenVLA demonstrate impressive zero-shot generalization across robotic manipulation tasks but struggle to adapt to specific deployment environments where consistent high performance on a limited set…
The variational autoencoder (VAE) framework is a popular option for training unsupervised generative models, featuring ease of training and latent representation of data. The objective function of VAE does not guarantee to achieve the…
Vision-language-action models (VLAs) have become an increasingly popular approach for addressing robot manipulation problems in recent years. However, such models need to output actions at a rate suitable for robot control, which limits the…
Recent studies have successfully integrated large vision-language models (VLMs) into low-level robotic control by supervised fine-tuning (SFT) with expert robotic datasets, resulting in what we term vision-language-action (VLA) models.…
The development of foundation models for embodied intelligence critically depends on access to large-scale, high-quality robot demonstration data. Recent approaches have sought to address this challenge by training on large collections of…
Recent advances in vision-language pre-training (VLP) have demonstrated impressive performance in a range of vision-language (VL) tasks. However, there exist several challenges for measuring the community's progress in building general…
Vision-language-action (VLA) models have emerged as generalist robotic controllers capable of mapping visual observations and natural language instructions to continuous action sequences. However, VLAs provide no calibrated measure of…