Related papers: NoRD: A Data-Efficient Vision-Language-Action Mode…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Recent Vision-Language-Action (VLA) models for autonomous driving explore inference-time reasoning as a way to improve driving performance and safety in challenging scenarios. Most prior work uses natural language to express…

Vision-Language-Action (VLA) models have emerged as a powerful framework that unifies perception, language, and control, enabling robots to perform diverse tasks through multimodal understanding. However, current VLA models typically…

In autonomous driving, dynamic environment and corner cases pose significant challenges to the robustness of ego vehicle's state understanding and decision making. We introduce VDRive, a novel pipeline for end-to-end autonomous driving that…

Large Language Models (LLMs) and Multimodal LLMs (MLLMs) have demonstrated immense potential in autonomous driving (AD) by offering human-like reasoning and open-world generalization. However, the excessive computational overhead and high…

Vision Language Action (VLA) models promise an open-vocabulary interface that can translate perceptual ambiguity into semantically grounded driving decisions, yet they still treat language as a static prior fixed at inference time. As a…

Fine-tuning vision-language models (VLMs) on robot teleoperation data to create vision-language-action (VLA) models is a promising paradigm for training generalist policies, but it suffers from a fundamental tradeoff: learning to produce…

Current Vision-Language-Action (VLA) models rely on fixed computational depth, expending the same amount of compute on simple adjustments and complex multi-step manipulation. While Chain-of-Thought (CoT) prompting enables variable…

This paper introduces CognitiveDrone, a novel Vision-Language-Action (VLA) model tailored for complex Unmanned Aerial Vehicles (UAVs) tasks that demand advanced cognitive abilities. Trained on a dataset comprising over 8,000 simulated…

Vision-Language-Action (VLA) policies excel in aligning language, perception, and robot control. However, most VLAs are trained purely by imitation, which overfits to demonstrations, and is brittle under distribution shift. Reinforcement…

Despite tremendous recent advances in large model reasoning ability, vision-language models (VLMs) still struggle with detailed visual reasoning, especially when compute resources are limited. To address this challenge, we draw inspiration…

Understanding risk in autonomous driving requires not only perception and prediction, but also high-level reasoning about agent behavior and context. Current Vision Language Model (VLM)-based methods primarily ground agents in static images…

Large Language Models (LLMs) demonstrate enhanced capabilities and reliability by reasoning more, evolving from Chain-of-Thought prompting to product-level solutions like OpenAI o1. Despite various efforts to improve LLM reasoning,…

Vision-Language-Action models have emerged as essential generalist robot policies for diverse manipulation tasks, conventionally relying on directly translating multimodal inputs into actions via Vision-Language Model embeddings. Recent…

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…

Vision-Language-Action (VLA) models improve action generation by conditioning policies on rich vision-language information. However, current auto-regressive policies are constrained by three bottlenecks: (1) architectural bias drives models…

Ensuring safe decision-making in autonomous vehicles remains a fundamental challenge despite rapid advances in end-to-end learning approaches. Traditional reinforcement learning (RL) methods rely on manually engineered rewards or sparse…

Vision-Language-Action (VLA) models have recently shown impressive generalization and language-guided manipulation capabilities. However, their performance degrades on tasks requiring precise spatial reasoning due to limited spatial…

Billion-parameter Vision-Language-Action (VLA) policies have recently shown impressive performance in robotic manipulation, yet their size and inference cost remain major obstacles for real-time closed-loop control. We introduce…

In this paper, we introduce Nested Low-Rank Adaptation (NoRA), a novel approach to parameter-efficient fine-tuning that extends the capabilities of Low-Rank Adaptation (LoRA) techniques. Vanilla LoRA overlooks pre-trained weight inheritance…