Related papers: KERV: Kinematic-Rectified Speculative Decoding for…

In recent years, instruction-tuned Large Multimodal Models (LMMs) have been successful at several tasks, including image captioning and visual question answering; yet leveraging these models remains an open question for robotics. Prior LMMs…

Speculative Decoding (SD) is a recently proposed technique for faster inference using Large Language Models (LLMs). SD operates by using a smaller draft LLM for autoregressively generating a sequence of tokens and a larger target LLM for…

Adapting billion-parameter language models to a downstream task is still costly, even with parameter-efficient fine-tuning (PEFT). We re-cast task adaptation as output-distribution alignment: the objective is to steer the output…

Vision-Language-Action (VLA) models offer a promising path to generalist robot control, but their inference latency causes observation staleness when generated actions are executed asynchronously. Several methods have been proposed…

Deep Reinforcement Learning (DRL) is a powerful framework for solving complex sequential decision-making problems, particularly in robotic control. However, its practical deployment is often hindered by the substantial amount of experience…

Continual learning in large language models (LLMs) is prone to catastrophic forgetting, where adapting to new tasks significantly degrades performance on previously learned ones. Existing methods typically rely on low-rank,…

Recent vision-language-action (VLA) models for multi-task robot manipulation often rely on fixed camera setups and shared visual encoders, which limit their performance under occlusions and during cross-task transfer. To address these…

Speculative decoding (SD) has proven effective for accelerating LLM inference by quickly generating draft tokens and verifying them in parallel. However, SD remains largely unexplored for Large Vision-Language Models (LVLMs), which extend…

This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard supervised finetuning (SFT). Some advanced finetuning methods…

Speculative decoding significantly accelerates language model inference by enabling a lightweight draft model to propose multiple tokens that a larger target model verifies simultaneously. However, applying this technique to vision-language…

Speculative decoding is a powerful way to accelerate autoregressive large language models (LLMs), but directly porting it to vision-language models (VLMs) faces unique systems constraints: the prefill stage is dominated by visual tokens…

Speculative decoding accelerates large language model (LLM) inference by using a small draft model to generate candidate tokens for a larger target model to verify. The efficacy of this technique hinges on the trade-off between the time…

This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…

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…

Diffusion Language Models (DLMs) enable parallel decoding via iterative denoising, where remasking strategies play a critical role in balancing inference speed and output quality. Existing methods predominantly rely on static confidence…

Vision-language-action (VLA) models show potential for general robotic tasks, but remain challenging in spatiotemporally coherent manipulation, which requires fine-grained representations. Typically, existing methods embed 3D positions into…

Vision-Language-Action (VLA) models have demonstrated robust performance across diverse robotic tasks. However, their high memory and computational demands often limit real-time deployment. While existing model compression techniques reduce…

Vision-language-action (VLA) models provide a powerful approach to training control policies for physical systems, such as robots, by combining end-to-end learning with transfer of semantic knowledge from web-scale vision-language model…

Foundation models (FMs) are pre-trained on large-scale datasets and then fine-tuned for a specific downstream task. The most common fine-tuning method is to update pretrained weights via low-rank adaptation (LoRA). Existing initialization…

MLLMs have demonstrated remarkable comprehension and reasoning capabilities with complex language and visual data. These advances have spurred the vision of establishing a generalist robotic MLLM proficient in understanding complex human…