相关论文: LILA: Language-Informed Latent Actions

Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…

While leveraging abundant human videos and simulated robot data poses a scalable solution to the scarcity of real-world robot data, the generalization capability of existing vision-language-action models (VLAs) remains limited by mismatches…

Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

Adapting Large Language Models (LLMs) to downstream tasks using Reinforcement Learning (RL) has proven to be an effective approach. However, LLMs do not inherently define the structure of an agent for RL training, particularly in terms of…

Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing approaches typically adopt a monolithic…

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)…

We introduce iFlyBot-VLA, a large-scale Vision-Language-Action (VLA) model trained under a novel framework. The main contributions are listed as follows: (1) a latent action model thoroughly trained on large-scale human and robotic…

Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…

Today's autonomous agents, largely driven by foundation models (FMs), can understand natural language instructions and solve long-horizon tasks with human-like reasoning. However, current human-robot interaction largely follows a one-way…

One of the most exciting applications of vision models involve pixel-level reasoning. Despite the abundance of vision foundation models, we still lack representations that effectively embed spatio-temporal properties of visual scenes at the…

The ability to learn and refine behavior after deployment has become ever more important for robots as we design them to operate in unstructured environments like households. In this work, we design a new learning system based on large…

Generalist robots that can perform a range of different tasks in open-world settings must be able to not only reason about the steps needed to accomplish their goals, but also process complex instructions, prompts, and even feedback during…

Vision-Language-Action (VLA) models leverage pretrained vision-language models (VLMs) to couple perception with robotic control, offering a promising path toward general-purpose embodied intelligence. However, current SOTA VLAs are…

This paper introduces a new hybrid framework that combines Reinforcement Learning (RL) and Large Language Models (LLMs) to improve robotic manipulation tasks. By utilizing RL for accurate low-level control and LLMs for high level task…

A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training. Standard practices such as data augmentation attempt to bridge this gap by augmenting source images in an effort to…

In this paper, we introduce a novel kinematics-rich vision-language-action (VLA) task, in which language commands densely encode diverse kinematic attributes (such as direction, trajectory, orientation, and relative displacement) from…

Large Language Models (LLM) and Vision Language Models (VLM) enable robots to ground natural language prompts into control actions to achieve tasks in an open world. However, when applied to a long-horizon collaborative task, this…

Teaching robots desired skills in real-world environments remains challenging, especially for non-experts. A key bottleneck is that collecting robotic data often requires expertise or specialized hardware, limiting accessibility and…