Related papers: Action Hallucination in Generative Vision-Language…

There is increasing focus on adapting predictive models into agent-like systems, most notably AI assistants based on language models. We outline two structural reasons for why these models can fail when turned into agents. First, we discuss…

Generative artificial intelligence (AI) is conquering our lives at lightning speed. Large language models such as ChatGPT answer our questions or write texts for us, large computer vision models such as GAIA-1 generate videos on the basis…

Vision-language-action models (VLAs) show potential as generalist robot policies. However, these models pose extreme safety challenges during real-world deployment, including the risk of harm to the environment, the robot itself, and…

Hallucination is often viewed as a direct consequence of missing knowledge: a model answers incorrectly when the correct answer is absent from its generation-time distribution, and correctly when it is present. We test this assumption by…

We introduce OG-VLA, a novel architecture and learning framework that combines the generalization strengths of Vision Language Action models (VLAs) with the robustness of 3D-aware policies. We address the challenge of mapping natural…

Vision-language-action models have emerged as a crucial paradigm in robotic manipulation. However, existing VLA models exhibit notable limitations in handling ambiguous language instructions and unknown environmental states. Furthermore,…

Large language models (LLMs) hallucinate: they produce fluent outputs that are factually incorrect. We present a geometric dynamical systems framework in which hallucinations arise from task-dependent basin structure in latent space. Using…

While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" recipe translates to robotics, where training data is…

Large language models (LLMs) have shown promise for generative and knowledge-intensive tasks including question-answering (QA) tasks. However, the practical deployment still faces challenges, notably the issue of "hallucination", where…

The advancement of large Vision-Language-Action (VLA) models has significantly improved robotic manipulation in terms of language-guided task execution and generalization to unseen scenarios. While existing VLAs adapted from pretrained…

Generative language models hallucinate. That is, at times, they generate factually flawed responses. These inaccuracies are particularly insidious because the responses are fluent and well-articulated. We focus on the task of Grounded…

Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimodal understanding, yet traditional rule-based methods fail to scale or generalize in unstructured, novel environments. In recent…

In this paper, we propose GTA-VLA(Guide, Think, Act), an interactive Vision-Language-Action (VLA) framework that enables spatially steerable embodied reasoning by allowing users to guide robot policies with explicit visual cues. Existing…

OpenAI has recently argued that hallucinations in large language models result primarily from misaligned evaluation incentives that reward confident guessing rather than epistemic humility. On this view, hallucination is a contingent…

With the advent of rich visual representations and pre-trained language models, video captioning has seen continuous improvement over time. Despite the performance improvement, video captioning models are prone to hallucination.…

Large vision-language models (LVLMs) often hallucinate content that is fluent yet unsupported by the image, limiting their reliability in real-world deployment. We show that a key failure mode arises from route competition: even when visual…

Vision-Language-Action (VLA) models are driving rapid progress in robotics by enabling agents to interpret multimodal inputs and execute complex, long-horizon tasks. However, their safety and robustness against adversarial attacks remain…

Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained…

Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…

Despite tremendous progress in dexterous manipulation, current visuomotor policies remain fundamentally limited by two challenges: they struggle to generalize under perceptual or behavioral distribution shifts, and their performance is…