Related papers: The Compression Gap: Why Discrete Tokenization Lim…

Efficient long-context processing remains a crucial challenge for contemporary large language models (LLMs), especially in resource-constrained environments. Soft compression architectures promise to extend effective context length by…

Vision-Language-Action (VLA) models enable robots to understand and perform complex tasks from multimodal input. Although recent work explores using reinforcement learning (RL) to automate the laborious data collection process in scaling…

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, particularly diffusion-based architectures, demonstrate transformative potential for embodied intelligence but are severely hampered by high computational and memory demands stemming from extensive…

Latent actions serve as an intermediate representation that enables consistent modeling of vision-language-action (VLA) models across heterogeneous datasets. However, approaches to supervising VLAs with latent actions are fragmented and…

Recent Vision-Language-Action (VLA) models have made impressive progress toward general-purpose robotic manipulation by post-training large Vision-Language Models (VLMs) for action prediction. Yet most VLAs entangle perception and control…

Vision-language-action (VLA) models increasingly rely on auxiliary world modules to plan over long horizons, yet how such modules should be parameterized on top of a pretrained VLA remains an open design question. Existing…

Scaling vision-language-action (VLA) model pre-training requires large volumes of diverse, high-quality manipulation trajectories. Most current data is obtained via human teleoperation, which is expensive and difficult to scale.…

Vision-Language-Action (VLA) models excel in robotic manipulation but suffer from significant inference latency due to processing dense visual tokens. Existing token reduction methods predominantly rely on attention magnitude as a static…

Most discrete visual tokenizers rely on a default design: every position in the sequence shares the same codebook. Researchers try to scale the codebook size $K$ to get better reconstruction performance. Such a constant-codebook design hits…

Achieving human-like dexterous manipulation remains a major challenge for general-purpose robots. While Vision-Language-Action (VLA) models show potential in learning skills from demonstrations, their scalability is limited by scarce…

The development of Vision-Language-Action (VLA) models has been significantly accelerated by pre-trained Vision-Language Models (VLMs). However, most existing end-to-end VLAs treat the VLM primarily as a multimodal encoder, directly mapping…

Cross-lingual, cross-task transfer is challenged by task-specific data scarcity, which becomes more severe as language support grows and is further amplified in vision-language models (VLMs). We investigate multilingual generalization in…

The effectiveness of scaling up training data in robotic manipulation is still limited. A primary challenge in manipulation is the tasks are diverse, and the trained policy would be confused if the task targets are not specified clearly.…

Numerous studies have shown that multimodal LLMs process speech and images well but fail in non-intuitive ways rendering trivial tasks such as object counting unreliable. We investigate this behavior from an information-theoretic…

Many Vision-Language-Action (VLA) models are built upon an internal world model trained via next-frame prediction ``$v_t \rightarrow v_{t+1}$''. However, this paradigm attempts to predict the future frame's appearance directly, without…

Vision-Language-Action (VLA) models aim to unify perception, language understanding, and action generation, offering strong cross-task and cross-scene generalization with broad impact on embodied AI. However, current VLA models often lack…

Vision-Language-Action (VLA) systems have shown strong potential for language-driven robotic manipulation. However, scaling them to long-horizon tasks remains challenging. Existing pipelines typically separate data collection, policy…

Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing approaches rely on 2D visual inputs to perform actions in 3D…

Vision-Language-Action (VLA) models unify perception, reasoning, and control within a single policy, yet their multi-billion-parameter backbones and diffusion-based action heads make on-device deployment prohibitively expensive. Prior…