相关论文: RoboMamba: Efficient Vision-Language-Action Model …

Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…

Vision-Language-Action (VLA) models often suffer from performance degradation under distribution shifts, as they struggle to learn generalized behavior representations across varying environments. While existing approaches attempt to…

Mamba-based vision models have gained extensive attention as a result of being computationally more efficient than attention-based models. However, spatial redundancy still exists in these models, represented by token and block redundancy.…

Vision-Language-Action (VLA) models have recently shown strong decision-making capabilities in autonomous driving. However, existing VLAs often struggle with achieving efficient inference and generalizing to novel autonomous vehicle…

Video understanding requires the extraction of rich spatio-temporal representations, which transformer models achieve through self-attention. Unfortunately, self-attention poses a computational burden. In NLP, Mamba has surfaced as an…

Transformers have revolutionized deep learning across various tasks, including audio representation learning, due to their powerful modeling capabilities. However, they often suffer from quadratic complexity in both GPU memory usage and…

State Space Models (SSMs), particularly the Mamba architecture, have recently emerged as powerful alternatives to Transformers for sequence modeling, offering linear computational complexity while achieving competitive performance. Yet,…

Prior efforts in light-weight model development mainly centered on CNN and Transformer-based designs yet faced persistent challenges. CNNs adept at local feature extraction compromise resolution while Transformers offer global reach but…

The typical Selective State-Space Model (SSM) used in Mamba addresses several limitations of Transformers, such as the quadratic computational complexity with respect to sequence length and the significant memory requirements during…

Robot manipulation relies on accurately predicting contact points and end-effector directions to ensure successful operation. However, learning-based robot manipulation, trained on a limited category within a simulator, often struggles to…

Video anomaly detection (VAD) has been extensively researched due to its potential for intelligent video systems. However, most existing methods based on CNNs and transformers still suffer from substantial computational burdens and have…

Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into robotic actions. Despite their recent advancements,…

Recent advancements in Vision-Language-Action (VLA) models have shown promise for end-to-end autonomous driving by leveraging world knowledge and reasoning capabilities. However, current VLA models often struggle with physically infeasible…

Mamba is an efficient State Space Model (SSM) with linear computational complexity. Although SSMs are not suitable for handling non-causal data, Vision Mamba (ViM) methods still demonstrate good performance in tasks such as image…

Prevalent Vision-Language-Action (VLA) models are typically built upon Multimodal Large Language Models (MLLMs) and demonstrate exceptional proficiency in semantic understanding, but they inherently lack the capability to deduce physical…

Rotation equivariance constitutes one of the most general and crucial structural priors for visual data, yet it remains notably absent from current Mamba-based vision architectures. Despite the success of Mamba in natural language…

Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in robotic manipulation,enabling robots to execute natural language commands through end-to-end learning from visual observations.However, deploying large-scale…

Vision-based 3D occupancy prediction has become a popular research task due to its versatility and affordability. Nowadays, conventional methods usually project the image-based vision features to 3D space and learn the geometric information…

Perceptual image compression focuses on preserving high visual quality under low-bitrate constraints. Most existing approaches to perceptual compression leverage the strong generative capabilities of generative adversarial networks or…

We introduce SOMA, the Spatial Memory framework for Out-of-Vision Manipulation in Vision-Language-Action (VLA) models. Most existing VLAs implicitly assume that task-relevant objects are always visible, leading to brittle and reactive…