相关论文: VIOLA: Imitation Learning for Vision-Based Manipul…

Recent advances in Vision-Language-Action (VLA) models have enabled robotic agents to integrate multimodal understanding with action execution. However, our empirical analysis reveals that current VLAs struggle to allocate visual attention…

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…

Recent studies on Vision-Language-Action (VLA) models have shifted from the end-to-end action-generation paradigm toward a pipeline involving task planning followed by action generation, demonstrating improved performance on various…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We…

This work presents an object-centric approach to learning vision-based manipulation skills from human videos. We investigate the problem of robot manipulation via imitation in the open-world setting, where a robot learns to manipulate novel…

Reward function specification, which requires considerable human effort and iteration, remains a major impediment for learning behaviors through deep reinforcement learning. In contrast, providing visual demonstrations of desired behaviors…

Integrating visual-language instructions into visuomotor policies is gaining momentum in robot learning for enhancing open-world generalization. Despite promising advances, existing approaches face two challenges: limited language…

Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…

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…

Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…

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…

Learning visual representations from observing actions to benefit robot visuo-motor policy generation is a promising direction that closely resembles human cognitive function and perception. Motivated by this, and further inspired by…

We present ProgVLA, a compact vision-language-action (VLA) model designed for reliable robot manipulation under tight compute and memory budgets. The model specifically focuses on efficiently processing long multi-modal sequences by…

In robot learning, Vision Transformers (ViTs) are standard for visual perception, yet most methods discard valuable information by using only the final layer's features. We argue this provides an insufficient representation and propose the…

Imitation learning is a widely used policy learning method that enables intelligent agents to acquire complex skills from expert demonstrations. The input to the imitation learning algorithm is usually composed of both the current…

We aim to enable robot to learn object manipulation by imitation. Given external observations of demonstrations on object manipulations, we believe that two underlying problems to address in learning by imitation is 1) segment a given…

The rapid progress of auto-regressive vision-language models (VLMs) has inspired growing interest in vision-language-action models (VLA) for robotic manipulation. Recently, masked diffusion models, a paradigm distinct from autoregressive…

Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation. However, previous approaches predominantly rely on the general comprehension capabilities of vision-language…

Vision-language-action (VLA) models have advanced robot manipulation through large-scale pretraining, but real-world deployment remains challenging due to partial observability and delayed feedback. Reinforcement learning addresses this via…