相关论文: HumanVLA: Towards Vision-Language Directed Object …

This paper addresses the limitations of current humanoid robot control frameworks, which primarily rely on reactive mechanisms and lack autonomous interaction capabilities due to data scarcity. We propose Humanoid-VLA, a novel framework…

Vision Language Action (VLA) models have recently shown great potential in bridging multimodal perception with robotic control. However, existing methods often rely on direct fine-tuning of pre-trained Vision-Language Models (VLMs), feeding…

Imitation learning has proven to be highly effective in teaching robots dexterous manipulation skills. However, it typically relies on large amounts of human demonstration data, which limits its scalability and applicability in dynamic,…

While end-to-end Vision-Language-Action (VLA) models offer a promising paradigm for robotic manipulation, fine-tuning them on narrow control data often compromises the profound reasoning capabilities inherited from their base…

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…

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…

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing approaches rely on 2D visual inputs to perform actions in 3D…

In the domain of humanoid robot control, the fusion of Vision-Language-Action (VLA) with whole-body control is essential for semantically guided execution of real-world tasks. However, existing methods encounter challenges in terms of low…

We introduce LHM-Humanoid, a benchmark and learning framework for long-horizon whole-body humanoid loco-manipulation in diverse, cluttered scenes. In our setting, multiple objects are displaced from their intended locations and may obstruct…

We introduce Being-H0, a dexterous Vision-Language-Action model (VLA) trained on large-scale human videos. Existing VLAs struggle with complex manipulation tasks requiring high dexterity and generalize poorly to novel scenarios and tasks,…

Humans can flexibly interpret and compose different goal specifications, such as language instructions, spatial coordinates, or visual references, when navigating to a destination. In contrast, most existing robotic navigation policies are…

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…

Deploying humanoid robots to interact with real-world environments--such as carrying objects or sitting on chairs--requires generalizable, lifelike motions and robust scene perception. Although prior approaches have advanced each capability…

Humanoid robots require precise locomotion and dexterous manipulation to perform challenging loco-manipulation tasks. Yet existing approaches, modular or end-to-end, are deficient in manipulation-aware locomotion. This confines the robot to…

To operate effectively in the real world, robots should integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to…

Human-object interaction (HOI) synthesis is crucial for applications in animation, simulation, and robotics. However, existing approaches either rely on expensive motion capture data or require manual reward engineering, limiting their…

Human-scene vision-language tasks are increasingly prevalent in diverse social applications, yet recent advancements predominantly rely on models specifically tailored to individual tasks. Emerging research indicates that large…

Manipulating dynamic objects remains an open challenge for Vision-Language-Action (VLA) models, which, despite strong generalization in static manipulation, struggle in dynamic scenarios requiring rapid perception, temporal anticipation,…

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 desired robotic actions. Despite their…