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

In recent years, significant progress has been made in the field of surgical scene understanding, particularly in the task of Visual Question Localized-Answering in robotic surgery (Surgical-VQLA). However, existing Surgical-VQLA models…

Current automatic speech recognition systems struggle with modeling long speech sequences due to high quadratic complexity of Transformer-based models. Selective state space models such as Mamba has performed well on long-sequence modeling…

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 demonstrate remarkable potential for generalizable robotic manipulation. The execution of complex multi-step behaviors in VLA models can be improved by robust instruction grounding, a critical component…

Recent advancements in State Space Models, notably Mamba, have demonstrated superior performance over the dominant Transformer models, particularly in reducing the computational complexity from quadratic to linear. Yet, difficulties in…

Vision-Language-Action (VLA) models have achieved remarkable progress in robotic manipulation by mapping multimodal observations and instructions directly to actions. However, they typically mimic expert trajectories without predictive…

Food classification is the foundation for developing food vision tasks and plays a key role in the burgeoning field of computational nutrition. Due to the complexity of food requiring fine-grained classification, recent academic research…

Recently, State Space Models (SSMs), with Mamba as a prime example, have shown great promise for long-range dependency modeling with linear complexity. Then, Vision Mamba and the subsequent architectures are presented successively, and they…

Leveraging pretrained Vision-Language Models (VLMs) to map language instruction and visual observations to raw low-level actions, Vision-Language-Action models (VLAs) hold great promise for achieving general-purpose robotic systems. Despite…

In recent years, visually-rich document understanding has attracted increasing attention. Transformer-based pre-trained models have become the mainstream approach, yielding significant performance gains in this field. However, the…

Although Model Predictive Control (MPC) can effectively predict the future states of a system and thus is widely used in robotic manipulation tasks, it does not have the capability of environmental perception, leading to the failure in some…

Existing Vision-Language-Action (VLA) models often suffer from feature collapse and low training efficiency because they entangle high-level perception with sparse, embodiment-specific action supervision. Since these models typically rely…

While the conditional sequence modeling with the transformer architecture has demonstrated its effectiveness in dealing with offline reinforcement learning (RL) tasks, it is struggle to handle out-of-distribution states and actions.…

Mamba, an architecture with RNN-like token mixer of state space model (SSM), was recently introduced to address the quadratic complexity of the attention mechanism and subsequently applied to vision tasks. Nevertheless, the performance of…

State Space Models (SSMs) like Mamba2 are a promising alternative to Transformers, with faster theoretical training and inference times -- especially for long context lengths. Recent work on Matryoshka Representation Learning -- and its…

Vision-Language-Action (VLA) models offer a promising autonomous driving paradigm for leveraging world knowledge and reasoning capabilities, especially in long-tail scenarios. However, existing VLA models often struggle with the high…

Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in visuomotor control, yet ensuring their robustness in unstructured real-world environments remains a persistent challenge. In this paper, we investigate…

Leveraging its robust linear global modeling capability, Mamba has notably excelled in computer vision. Despite its success, existing Mamba-based vision models have overlooked the nuances of event-driven tasks, especially in video…

In recent years, instruction-tuned Large Multimodal Models (LMMs) have been successful at several tasks, including image captioning and visual question answering; yet leveraging these models remains an open question for robotics. Prior LMMs…

Temporal context is essential for robotic manipulation because such tasks are inherently non-Markovian, yet mainstream VLA models typically overlook it and struggle with long-horizon, temporally dependent tasks. Cognitive science suggests…