Related papers: ROCKET: Residual-Oriented Multi-Layer Alignment fo…

Recent studies on Vision-Language-Action (VLA) models have shifted from the end-to-end action-generation paradigm toward a pipeline involving task planning followed by action generation, demonstrating improved performance on various…

Vision-Language-Action (VLA) models have recently achieved remarkable progress in robotic perception and control, yet most existing approaches primarily rely on VLM trained using 2D images, which limits their spatial understanding and…

We present ROCKET, a training-free model compression method that achieves state-of-the-art performance in comparison with factorization, structured-sparsification and dynamic compression baselines. Operating under a global compression…

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and…

In Vision-Language-Actionf(VLA) models, robustness to real-world perturbations is critical for deployment. Existing methods target simple visual disturbances, overlooking the broader multi-modal perturbations that arise in actions,…

Vision-Language-Action (VLA) models have shown strong promise for general-purpose robotic manipulation, but their real-world evaluation remains limited by a lack of accessible, reproducible, and consistent benchmarks. Simulation benchmarks…

Vision-language models are increasingly employed as multimodal conversational agents (MCAs) for diverse conversational tasks. Recently, reinforcement learning (RL) has been widely explored for adapting MCAs to various human-AI interaction…

Vision-Language-Action (VLA) models have become a cornerstone in robotic policy learning, leveraging large-scale multimodal data for robust and scalable control. However, existing VLA frameworks primarily address short-horizon tasks, and…

Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…

Vision-Language-Action (VLA) models often fail to generalize to unseen camera viewpoints, a limitation stemming from their difficulty in inferring robust 3D geometry from 2D images. We introduce GeoAware-VLA, a simple yet effective approach…

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…

Current research on Vision-Language-Action (VLA) models predominantly focuses on enhancing generalization through established reasoning techniques. While effective, these improvements invariably increase computational complexity and…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for robot learning, but their representations are still largely inherited from static image-text pretraining, leaving physical dynamics to be learned from…

Multimodal Large Language Models (MLLMs) excel in understanding complex language and visual data, enabling generalist robotic systems to interpret instructions and perform embodied tasks. Nevertheless, their real-world deployment is…

Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such…

While significant research has focused on developing embodied reasoning capabilities using Vision-Language Models (VLMs) or integrating advanced VLMs into Vision-Language-Action (VLA) models for end-to-end robot control, few studies…

More and more evidence has shown that strengthening layer interactions can enhance the representation power of a deep neural network, while self-attention excels at learning interdependencies by retrieving query-activated information.…

This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…

The advancement of 3D vision-language (3D VL) learning is hindered by several limitations in existing 3D VL datasets: they rarely necessitate reasoning beyond a close range of objects in single viewpoint, and annotations often link…

Vision-Language-Action (VLA) models frequently encounter challenges in generalizing to real-world environments due to inherent discrepancies between observation and action spaces. Although training data are collected from diverse camera…