Related papers: CrossVLA: Cross-Paradigm Post-Training and Inferen…
While autoregressive (AR) Vision-Language-Action (VLA) models have demonstrated formidable reasoning capabilities in robotic tasks, their sequential decoding process often incurs high inference latency and may amplify error accumulation…
Vision-language-action models (VLAs) have shown potential in leveraging pretrained vision-language models and diverse robot demonstrations for learning generalizable sensorimotor control. While this paradigm effectively utilizes large-scale…
Enabling robots to perform diverse tasks across varied environments is a central challenge in robot learning. While vision-language-action (VLA) models have shown promise for generalizable robot skills, realizing their full potential…
Vision-language-action (VLA) models are effective robot action executors, but they remain limited on long-horizon tasks due to the dual burden of extended closed-loop planning and diverse physical operations. We therefore propose…
To operate effectively in the real world, robots should integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to…
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…
Supervised fine-tuning (SFT) has become the de facto post-training strategy for large vision-language-action (VLA) models, but its reliance on costly human demonstrations limits scalability and generalization. We propose Probe, Learn,…
Vision-Language-Action (VLA) policies are commonly trained from dense robot demonstration trajectories, often collected through teleoperation, by sampling every recorded frame as if it provided equally useful supervision. We argue that this…
Vision-language-action (VLA) models provide strong action priors for robotic manipulation, but their reactive behavior can fail under distribution shift and long-horizon task structure. Recent VLA-guided planning methods improve execution…
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 rely on current observations, including images, language instructions, and robot states, to predict actions and complete tasks. While accurate visual perception is crucial for precise action prediction…
Vision-language-action (VLA) models are emerging as embodied foundation models for robotic manipulation, but their deployment introduces a new unlearning challenge: removing unsafe, spurious, or privacy-sensitive behaviors without degrading…
Reinforcement learning (RL) enables high-frequency, closed-loop control for robotic manipulation, but scaling to long-horizon tasks with sparse or imperfect rewards remains difficult due to inefficient exploration and poor credit…
Vision-Language-Action (VLA) models have advanced robotic control by enabling end-to-end decision-making directly from multimodal inputs. However, their tightly coupled architectures expose novel security vulnerabilities. Unlike traditional…
Visual-Language-Action (VLA) models have demonstrated strong cross-scenario generalization capabilities in various robotic tasks through large-scale pre-training and task-specific fine-tuning. However, their training paradigm mainly relies…
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…
Direct Preference Optimization (DPO) improves the alignment of large language models (LLMs) with human values by training directly on human preference datasets, eliminating the need for reward models. However, due to the presence of…
While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" recipe translates to robotics, where training data is…
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.…
Despite their strong performance in embodied tasks, recent Vision-Language-Action (VLA) models remain highly fragile under multimodal perturbations, where visual corruption and linguistic noise jointly induce distribution shifts that…