相关论文: LILA: Language-Informed Latent Actions

Humans act with context and intention, with reasoning playing a central role. While internet-scale data has enabled broad reasoning capabilities in AI systems, grounding these abilities in physical action remains a major challenge. We…

In this paper, we propose GTA-VLA(Guide, Think, Act), an interactive Vision-Language-Action (VLA) framework that enables spatially steerable embodied reasoning by allowing users to guide robot policies with explicit visual cues. Existing…

Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…

Natural language is an intuitive interface for humanoid robots, yet streaming whole-body control requires control representations that are executable now and anticipatory of future physical transitions. Existing language-conditioned…

The rise of foundation models paves the way for generalist robot policies in the physical world. Existing methods relying on text-only instructions often struggle to generalize to unseen scenarios. We argue that interleaved image-text…

Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such…

This research introduces the Bi-VLA (Vision-Language-Action) model, a novel system designed for bimanual robotic dexterous manipulation that seamlessly integrates vision for scene understanding, language comprehension for translating human…

Learning to solve complex manipulation tasks from visual observations is a dominant challenge for real-world robot learning. Although deep reinforcement learning algorithms have recently demonstrated impressive results in this context, they…

Video generation models offer a promising imagination mechanism for robot manipulation by predicting long-horizon future observations, but effectively exploiting these imagined futures for action execution remains challenging. Existing…

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…

Vision-language-action (VLA) models have recently emerged as a promising paradigm for robotic control, enabling end-to-end policies that ground natural language instructions into visuomotor actions. However, current VLAs often struggle to…

Even though intelligent systems such as Siri or Google Assistant are enjoyable (and useful) dialog partners, users can only access predefined functionality. Enabling end-users to extend the functionality of intelligent systems will be the…

Robots deployed in dynamic environments must be able to not only follow diverse language instructions but flexibly adapt when user intent changes mid-execution. While recent Vision-Language-Action (VLA) models have advanced multi-task…

Vision-Language Action (VLA) models significantly advance robotic manipulation by leveraging the strong perception capabilities of pretrained vision-language models (VLMs). By integrating action modules into these pretrained models, VLA…

To collaborate with humans, robots must infer goals that are often ambiguous, difficult to articulate, or not drawn from a fixed set. Prior approaches restrict inference to a predefined goal set, rely only on observed actions, or depend…

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…

We present Vision in Action (ViA), an active perception system for bimanual robot manipulation. ViA learns task-relevant active perceptual strategies (e.g., searching, tracking, and focusing) directly from human demonstrations. On the…

We introduce VIOLA, an object-centric imitation learning approach to learning closed-loop visuomotor policies for robot manipulation. Our approach constructs object-centric representations based on general object proposals from a…

Large language models (LLMs) have demonstrated the potential to perform high-level planning. Yet, it remains a challenge for LLMs to comprehend low-level commands, such as joint angle targets or motor torques. This paper proposes an…

Vision-language-action (VLA) models hold promise as generalist robotics solutions by translating visual and linguistic inputs into robot actions, yet they lack reliability due to their black-box nature and sensitivity to environmental…