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Force/torque feedback can substantially improve Vision-Language-Action (VLA) models on contact-rich manipulation, but most existing approaches fuse all modalities at a single operating frequency. This design ignores the mismatched sampling…

Recent reasoning-augmented Vision-Language-Action (VLA) models have improved the interpretability of end-to-end autonomous driving by generating intermediate reasoning traces. Yet these models primarily describe what they perceive and…

Autoregressive language models decode left-to-right with irreversible commitments, limiting revision during multi-step reasoning. We propose \textbf{VDLM}, a modular variable diffusion language model that separates semantic planning from…

Linear RNNs with gating recently demonstrated competitive performance compared to Transformers in language modeling. Although their linear compute scaling in sequence length offers theoretical runtime advantages over Transformers, realizing…

Diffusion models have shown impressive results in generating high-quality conditional samples using guidance techniques such as Classifier-Free Guidance (CFG). However, existing methods often require additional training or neural function…

Diffusion-based large language models (Diffusion LLMs) have shown promise for non-autoregressive text generation with parallel decoding capabilities. However, the practical inference speed of open-sourced Diffusion LLMs often lags behind…

While vision-language-action (VLA) models for embodied agents integrate perception, reasoning, and control, they remain constrained by two critical weaknesses: first, during grasping tasks, the action tokens generated by the language model…

Diffusion-based large language models (dLLMs), despite their promising performance, still suffer from inferior inference efficiency. This is because dLLMs rely on bidirectional attention and cannot directly benefit from the standard…

Vision-Language-Action (VLA) models have demonstrated strong potential for predicting semantic actions in navigation tasks, demonstrating the ability to reason over complex linguistic instructions and visual contexts. However, they are…

Inference-time scaling has proven effective in boosting large language model (LLM) performance through increased test-time computation. Yet, its practical application is often hindered by reliance on external verifiers or a lack of…

Diffusion-based language models (dLLMs) have emerged as a promising alternative to traditional autoregressive LLMs by enabling parallel token generation and significantly reducing inference latency. However, existing sampling strategies for…

Long-horizon robotic manipulation requires bridging the gap between high-level planning (System 2) and low-level control (System 1). Current Vision-Language-Action (VLA) models often entangle these processes, performing redundant multimodal…

Deploying Large Language Models (LLMs) on edge devices remains challenging due to their quadratically increasing computations with the sequence length. Existing studies for dynamic attention pruning are designed for hardware with massively…

Flow-based latent generative models such as Stable Diffusion 3 are able to generate images with remarkable quality, even enabling photorealistic text-to-image generation. Their impressive performance suggests that these models should also…

End-to-End (E2E) solutions have emerged as a mainstream approach for autonomous driving systems, with Vision-Language-Action (VLA) models representing a new paradigm that leverages pre-trained multimodal knowledge from Vision-Language…

The Visual-Language-Action (VLA) models can follow text instructions according to visual observations of the surrounding environment. This ability to map multimodal inputs to actions is derived from the training of the VLA model on…

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…

Vision-Language-Action (VLA) models enable embodied decision-making but rely heavily on imitation learning, leading to compounding errors and poor robustness under distribution shift. Reinforcement learning (RL) can mitigate these issues…

Diffusion models has emerged as a powerful framework for tasks like image controllable generation and dense prediction. However, existing models often struggle to capture underlying semantics (e.g., edges, textures, shapes) and effectively…

Temporal information is essential to learning effective policies with Reinforcement Learning (RL). However, current state-of-the-art RL algorithms either assume that such information is given as part of the state space or, when learning…