Related papers: Thinking in Text and Images: Interleaved Vision--L…

We propose Text2Motion, a language-based planning framework enabling robots to solve sequential manipulation tasks that require long-horizon reasoning. Given a natural language instruction, our framework constructs both a task- and…

Recent advances in vision-language models (VLMs) have demonstrated strong generalization in natural image tasks. However, their performance often degrades on unmanned aerial vehicle (UAV)-based aerial imagery, which features high…

Vision-language-action (VLA) models have demonstrated strong semantic understanding and zero-shot generalization, yet most existing systems assume an accurate low-level controller with hand-crafted action "vocabulary" such as end-effector…

While significant research has focused on developing embodied reasoning capabilities using Vision-Language Models (VLMs) or integrating advanced VLMs into Vision-Language-Action (VLA) models for end-to-end robot control, few studies…

Medical vision--language models (VLMs) have shown strong potential for medical visual question answering (VQA), yet their reasoning remains largely text-centric: images are encoded once as static context, and subsequent inference is…

Hallucinations in large vision-language models (LVLMs) pose significant challenges for real-world applications, as LVLMs may generate responses that appear plausible yet remain inconsistent with the associated visual content. This issue…

Large Language Models (LLMs) have achieved remarkable reliability and advanced capabilities through extended test-time reasoning. However, extending these capabilities to Multi-modal Large Language Models (MLLMs) remains a significant…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for building embodied agents that ground perception and language into action. However, most existing approaches rely on direct action prediction, lacking the ability…

Although large vision-language models (LVLMs) have demonstrated impressive capabilities in multi-modal understanding and reasoning, their practical applications are still limited by massive model parameters and high computational costs.…

Vision-Language-Action (VLA) models have shown strong performance in robotic manipulation, but often struggle in long-horizon or out-of-distribution scenarios due to the lack of explicit mechanisms for multimodal reasoning and anticipating…

We introduce Green-VLA, a staged Vision-Language-Action (VLA) framework for real-world deployment on the Green humanoid robot while maintaining generalization across diverse embodiments. Green-VLA follows a five stage curriculum: (L0)…

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and…

Current Vision-Language-Action (VLA) models typically treat the deepest representation of a vision-language backbone as universally optimal for action prediction. However, robotic manipulation is composed of many frequent closed-loop…

We tackle the challenge of building embodied AI agents that can reliably solve long-horizon planning problems. Imitation learning from demonstrations has shown itself to be effective in training robots to solve a diversity of complex tasks…

Recent advances in vision-language-action (VLA) models have shown promise in integrating image generation with action prediction to improve generalization and reasoning in robot manipulation. However, existing methods are limited to…

Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing motor skills; instead, they expose a…

As embodied agents operate in increasingly complex environments, the ability to perceive, track, and reason about individual object instances over time becomes essential, especially in tasks requiring sequenced interactions with visually…

LaViRA: Zero-shot Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires an agent to navigate unseen environments based on natural language instructions without any prior training. Current methods face a critical…

Vision-Language-Action (VLA) models achieve strong performance in robotic manipulation by leveraging pre-trained vision-language backbones. However, in downstream robotic settings, they are typically fine-tuned with limited data, leading to…