Related papers: Mitigating State Aliasing in Vision-Language-Actio…

Traditional multimodal learning approaches require expensive alignment pre-training to bridge vision and language modalities, typically projecting visual features into discrete text token spaces. We challenge both fundamental assumptions…

Vision-Language-Action (VLA) models are increasingly expected to not only complete robot tasks, but also follow human instructions about how those tasks should be executed. However, existing robot datasets usually pair trajectories with…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Current vision-language-action (VLA) models, pre-trained on large-scale robotic data, exhibit strong multi-task capabilities and generalize well to variations in visual and language instructions for manipulation. However, their success rate…

Vision-Language-Action models (VLAs) hold immense promise for enabling generalist robot manipulation. However, the best way to build them remains an open question. Current approaches often add complexity, such as modifying the existing…

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup…

Vision-language models (VLMs) pretrained on large-scale multimodal datasets encode rich visual and linguistic knowledge, making them a strong foundation for robotics. Rather than training robotic policies from scratch, recent approaches…

Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning,…

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…

Hallucinations in vision-language models (VLMs) hinder reliability and real-world applicability, usually stemming from distribution shifts between pretraining data and test samples. Existing solutions, such as retraining or fine-tuning on…

Vision-language-action models have emerged as a crucial paradigm in robotic manipulation. However, existing VLA models exhibit notable limitations in handling ambiguous language instructions and unknown environmental states. Furthermore,…

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…

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 pre-training (VLP) methods are blossoming recently, and its crucial goal is to jointly learn visual and textual features via a transformer-based architecture, demonstrating promising improvements on a variety of…

Overfitting in RL has become one of the main obstacles to applications in reinforcement learning(RL). Existing methods do not provide explicit semantic constrain for the feature extractor, hindering the agent from learning a unified…

Vision-Language-Action (VLA) models have emerged as a promising framework for end-to-end autonomous driving. However, existing VLAs typically rely on sparse action supervision, which underutilizes their powerful scene understanding and…

Vision-Language-Action models have emerged as a promising paradigm for robotic manipulation by unifying perception, language grounding, and action generation. However, they often struggle in scenarios requiring precise spatial…

Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular,…

Latent Action Models (LAMs) enable Vision- Language-Action (VLA) systems to learn semantic action representations from large-scale unannotated data. Yet, we identify two bottlenecks of LAMs: 1) the commonly adopted end-to-end trained image…

Vision-Language-Action (VLA) models have shown remarkable potential in visuomotor control and instruction comprehension through end-to-end learning processes. However, current VLA models face significant challenges: they are slow during…