Related papers: Adaptive Action Chunking at Inference-time for Vis…

Chunking is a crucial preprocessing step in retrieval-augmented generation (RAG) systems, significantly impacting retrieval effectiveness across diverse datasets. In this study, we systematically evaluate fixed-size chunking strategies and…

In this paper, we study whether model-based reinforcement learning (RL), in particular model-based value expansion, can provide a scalable recipe for tackling complex, long-horizon tasks in offline RL. Model-based value expansion fits an…

While Retrieval-Augmented Generation (RAG) has emerged as a promising paradigm for boosting large language models (LLMs) in knowledge-intensive tasks, it often overlooks the crucial aspect of text chunking within its workflow. This paper…

Vision-language-action (VLA) models remain constrained by the scarcity of action-labeled robot data, whereas action-free videos provide abundant evidence of how the physical world changes. Latent action models offer a promising way to…

Vision-Language-Action (VLA) models have shown promising capabilities for embodied intelligence, but most existing approaches rely on text-based chain-of-thought reasoning where visual inputs are treated as static context. This limits the…

Foundation models applied in robotics, particularly \textbf{Vision--Language--Action (VLA)} models, hold great promise for achieving general-purpose manipulation. Yet, systematic real-world evaluations and cross-model comparisons remain…

Deployed machine learning models should be updated to take advantage of a larger sample size to improve performance, as more data is gathered over time. Unfortunately, even when model updates improve aggregate metrics such as accuracy, they…

Vision-Language-Action (VLA) models adapt large vision-language backbones to map images and instructions into robot actions. However, prevailing VLAs either generate actions auto-regressively in a fixed left-to-right order or attach…

This paper introduces ACTLLM (Action Consistency Tuned Large Language Model), a novel approach for robot manipulation in dynamic environments. Traditional vision-based systems often struggle to learn visual representations that excel in…

Vision-language-action (VLA) models have recently emerged as a promising paradigm for robotic control, enabling end-to-end policies that ground natural language instructions into visuomotor actions. However, current VLAs often struggle to…

Current vision-language-action (VLA) models generalize poorly, particularly when tasks require new compositions of skills or objects. We introduce Atomic Action Slicing (AAS), a planner-aligned approach that decomposes long-horizon…

Vision-Language-Action (VLA) models have shown great potential for embodied AI by integrating visual perception, language understanding, and action execution. In real-time deployment, these models must process continuous visual streams,…

While Vision-Language-Action (VLA) models hold promise in embodied intelligence, their large parameter counts lead to substantial inference latency that hinders real-time manipulation, motivating parameter sparsification. However, as the…

Recent advances in FlowMatching-based Vision-Language-Action (VLA) frameworks have demonstrated remarkable advantages in generating high-frequency action chunks, particularly for highly dexterous robotic manipulation tasks. Despite these…

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…

Advantage Learning (AL) seeks to increase the action gap between the optimal action and its competitors, so as to improve the robustness to estimation errors. However, the method becomes problematic when the optimal action induced by the…

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…

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…

Vision-Language-Action (VLA) models have emerged as a promising framework that unifies perception, reasoning, and control for robot manipulation by adapting pretrained vision-language models (VLMs) to action prediction. However, VLM-derived…

Action recognition is a crucial task in artificial intelligence, with significant implications across various domains. We initially perform a comprehensive analysis of seven prominent action recognition methods across five widely-used…