Related papers: VLA-IAP: Training-Free Visual Token Pruning via In…

While excellent in transfer learning, Vision-Language models (VLMs) come with high computational costs due to their large number of parameters. To address this issue, removing parameters via model pruning is a viable solution. However,…

Recent advances in robot manipulation have leveraged pre-trained vision-language models (VLMs) and explored integrating 3D spatial signals into these models for effective action prediction, giving rise to the promising…

Vision-Language-Action (VLA) models widely adopt pretrained Vision-Language Models (VLMs) as policy backbones, yet it remains unclear what kind of pretrained VLM representation is useful as a VLA initialization. In this paper, we study VLA…

Vision-Language-Action (VLA) models trained on large robot datasets promise general-purpose, robust control across diverse domains and embodiments. However, existing approaches often fail out-of-the-box when deployed in novel environments,…

Vision-Language-Action (VLA) models benefit from chain-of-thought (CoT) reasoning, but existing approaches incur high inference overhead and rely on discrete reasoning representations that mismatch continuous perception and control. We…

Vision-Language-Action (VLA) models, particularly diffusion-based architectures, demonstrate transformative potential for embodied intelligence but are severely hampered by high computational and memory demands stemming from extensive…

In vision-language models (VLMs), visual tokens usually bear a significant amount of computational overhead despite sparsity of information in them when compared to text tokens. To address this, most existing methods learn a network to…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for robotic manipulation by leveraging pre-trained vision-language representations. However, current VLA training methods suffer from two critical limitations: poor…

Vision-Language-Action (VLA) models have shown strong performance on embodied manipulation, yet they remain brittle under visual observation changes, paraphrased language instructions, and compounded perturbations. This limitation suggests…

Vision-Language-Action (VLA) models exhibit strong generalization in robotic manipulation, yet reinforcement learning (RL) fine-tuning often degrades robustness under spatial distribution shifts. For flow-matching VLA policies, this…

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…

In dynamic environments such as warehouses, hospitals, and homes, robots must seamlessly transition between gross motion and precise manipulations to complete complex tasks. However, current Vision-Language-Action (VLA) frameworks, largely…

Despite remarkable progress in Vision--Language--Action (VLA) models, a central bottleneck remains underexamined: the data infrastructure that underlies embodied learning. In this survey, we argue that future advances in VLA will depend…

Teaching robots dexterous skills from human videos remains challenging due to the reliance on low-level trajectory imitation, which fails to generalize across object types, spatial layouts, and manipulator configurations. We propose…

Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…

While multimodal large language models demonstrate strong performance in complex reasoning tasks, they pose significant challenges related to model complexity during deployment, especially for resource-limited devices. In this paper, we…

Vision-Language-Action (VLA) models have recently emerged as a powerful paradigm for robotic manipulation. Despite substantial progress enabled by large-scale pretraining and supervised fine-tuning (SFT), these models face two fundamental…

The established redundancy in visual tokens within large vision-language models allows pruning to effectively reduce their substantial computational demands. Previous methods typically employ heuristic layer-specific pruning strategies…

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…

Diffusion-based large multimodal models, such as LLaDA-V, have demonstrated impressive capabilities in vision-language understanding and generation. However, their bidirectional attention mechanism and diffusion-style iterative denoising…