Related papers: Neural Implicit Action Fields: From Discrete Waypo…

We present a novel technique for implicit neural representation of light fields at continuously defined viewpoints with high quality and fidelity. Our implicit neural representation maps 4D coordinates defining two-plane parameterization of…

Interpretation and diagnosis of machine learning models have gained renewed interest in recent years with breakthroughs in new approaches. We present Manifold, a framework that utilizes visual analysis techniques to support interpretation,…

Vision-Language-Action (VLA) models are formulated to ground instructions in visual context and generate action sequences for robotic manipulation. Despite recent progress, VLA models still face challenges in learning related and reusable…

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 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…

Vision-Language-Action models (VLAs) represent a significant frontier in embodied intelligence, aiming to bridge digital knowledge with physical-world interaction. Despite their remarkable performance, foundational VLAs are hindered by the…

A fundamental objective of manipulation policy design is to endow robots to comprehend human instructions, reason about scene cues, and execute generalized actions in dynamic environments. Recent autoregressive vision-language-action (VLA)…

Vision-language-action (VLA) models have shown great potential in building generalist robots, but still face a dilemma-misalignment of 2D image forecasting and 3D action prediction. Besides, such a vision-action entangled training manner…

Understanding the neural implementation of complex human behaviors is one of the major goals in neuroscience. To this end, it is crucial to find a true representation of the neural data, which is challenging due to the high complexity of…

Executing language-conditioned tasks in dynamic visual environments remains a central challenge in embodied AI. Existing Vision-Language-Action (VLA) models predominantly adopt reactive state-to-action mappings, often leading to…

While neural networks have excelled in video action recognition tasks, their black-box nature often obscures the understanding of their decision-making processes. Recent approaches used inherently interpretable models to analyze video…

Action-labeled data for robotics is scarce and expensive, limiting the generalization of learned policies. In contrast, vast amounts of action-free video data are readily available, but translating these observations into effective policies…

A robot operating in a household environment will see a wide range of unique and unfamiliar objects. While a system could train on many of these, it is infeasible to predict all the objects a robot will see. In this paper, we present a…

Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…

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…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

We introduce Neural Riemannian Motion Fields (NRMF), a novel 3D generative human motion prior that enables robust, temporally consistent, and physically plausible 3D motion recovery. Unlike existing VAE or diffusion-based methods, our…

We introduce a general, scalable computational framework for multi-axis 3D printing based on implicit neural fields (INFs) that unifies all stages of toolpath generation and global collision-free motion planning. In our pipeline, input…

Vision-Language-Action (VLA) models have achieved remarkable progress in robotic manipulation by mapping multimodal observations and instructions directly to actions. However, they typically mimic expert trajectories without predictive…

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…