相关论文: RACER: Rich Language-Guided Failure Recovery Polic…

Enabling robots to execute long-horizon manipulation tasks from free-form language instructions remains a fundamental challenge in embodied AI. While vision-language models (VLMs) have shown promise as high-level planners, their deployment…

Vision-language models (VLMs) have exhibited impressive capabilities across diverse image understanding tasks, but still struggle in settings that require reasoning over extended sequences of camera frames from a video. This limits their…

Vision-Language-Action (VLA) models have become a prominent paradigm for embodied intelligence, yet further performance improvements typically rely on scaling up training data and model size -- an approach that is prohibitively expensive…

The scaling of large language models to encode all the world's knowledge in model parameters is unsustainable and has exacerbated resource barriers. Retrieval-Augmented Generation (RAG) presents a potential solution, yet its application to…

Robust robotic manipulation requires reliable failure detection and recovery. Although recent Vision-Language Models (VLMs) show promise in robot failure detection, their generalization is severely limited by the scarcity and narrow…

Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…

Efficiently routing queries to the optimal large language model (LLM) is crucial for optimizing the cost-performance trade-off in multi-model systems. However, most existing routers rely on single-model selection, making them susceptible to…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

A well-designed reward is critical for effective reinforcement learning-based policy improvement. In real-world robotics, obtaining such rewards typically requires either labor-intensive human labeling or brittle, handcrafted objectives.…

Recent work on domain-specific reasoning with large language models (LLMs) often relies on training-intensive approaches that require parameter updates. While activation steering has emerged as a parameter efficient alternative, existing…

Natural language can offer a concise and human-interpretable means of specifying reinforcement learning (RL) tasks. The ability to extract rewards from a language instruction can enable the development of robotic systems that can learn from…

Vision-Language-Action (VLA) models have recently advanced robotic manipulation by translating natural-language instructions and visual observations into control actions. However, existing VLAs are primarily trained on successful expert…

Recent studies have successfully integrated large vision-language models (VLMs) into low-level robotic control by supervised fine-tuning (SFT) with expert robotic datasets, resulting in what we term vision-language-action (VLA) models.…

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and…

Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while failed rollouts are often discarded. We introduce RePO-VLA,…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…

Autoregressive decoding in Large Language Models (LLMs) generates one token per step, causing high inference latency. Speculative decoding (SD) mitigates this through a guess-and-verify strategy, but existing training-free variants face…

Accurately understanding and deciding high-level meta-actions is essential for ensuring reliable and safe autonomous driving systems. While vision-language models (VLMs) have shown significant potential in various autonomous driving tasks,…

Reinforcement learning provides an appealing framework for robotic control due to its ability to learn expressive policies purely through real-world interaction. However, this requires addressing real-world constraints and avoiding…

Robotic systems often face execution failures due to unexpected obstacles, sensor errors, or environmental changes. Traditional failure recovery methods rely on predefined strategies or human intervention, making them less adaptable. This…