相关论文: VLASCD: A Visual Language Action Model for Simulta…

Vision-Language-Action (VLA) models are emerging as a next-generation paradigm for robotics. We introduce dVLA, a diffusion-based VLA that leverages a multimodal chain-of-thought to unify visual perception, language reasoning, and robotic…

Video-language pre-training is a typical and challenging problem that aims at learning visual and textual representations from large-scale data in a self-supervised way. Existing pre-training approaches either captured the correspondence of…

Vision-Language-Action (VLA) models have recently shown impressive generalization and language-guided manipulation capabilities. However, their performance degrades on tasks requiring precise spatial reasoning due to limited spatial…

Vision--language--action (VLA) models are typically built by fine-tuning a pretrained vision--language model (VLM) on action data. However, we show that this standard recipe systematically erodes the VLM's multimodal competence, a side…

Vision-Language-Action (VLA) models show promise in embodied reasoning, yet remain far from true generalists-they often require task-specific fine-tuning, incur high compute costs, and generalize poorly to unseen tasks. We propose MetaVLA,…

Recent advances in multimodal large language models (LLMs) have led to significant progress in understanding, generation, and retrieval tasks. However, current solutions often treat these tasks in isolation or require training LLMs from…

Confidence estimation for Vision-Language-Action (VLA) models is essential for robots to perform manipulation tasks in the open world, providing crucial signals for risk-sensitive decision-making and failure anticipation. Existing…

Modern multimodal large language models (MLLMs) adopt a unified self-attention design that processes visual and textual tokens at every Transformer layer, incurring substantial computational overhead. In this work, we revisit the necessity…

We present a simplified, task-agnostic multi-modal pre-training approach that can accept either video or text input, or both for a variety of end tasks. Existing pre-training are task-specific by adopting either a single cross-modal encoder…

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…

We introduce X-VILA, an omni-modality model designed to extend the capabilities of large language models (LLMs) by incorporating image, video, and audio modalities. By aligning modality-specific encoders with LLM inputs and diffusion…

Embodied intelligence is often studied through specialized models for individual tasks such as manipulation or navigation, resulting in fragmented capabilities and limited generalization across tasks, environments, and robot embodiments. In…

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…

We adapt a pre-trained Vision-Language-Action (VLA) model (Open-VLA) for dexterous human-robot collaboration with minimal language prompting. Our approach adds (i) FiLM conditioning to visual backbones for task-aware perception, (ii) an…

Large language models (LLMs) have demonstrated that large-scale pretraining enables systems to adapt rapidly to new problems with little supervision in the language domain. This success, however, has not translated as effectively to the…

Automating crash video analysis is essential to leverage the growing availability of driving video data for traffic safety research and accountability attribution in autonomous driving. Crash video analysis is a challenging multitask…

Achieving truly adaptive embodied intelligence requires agents that learn not just by imitating static demonstrations, but by continuously improving through environmental interaction, which is akin to how humans master skills through…

In this work, we present and evaluate SELMA, a Speech-Enabled Language Model for virtual Assistant interactions that integrates audio and text as inputs to a Large Language Model (LLM). SELMA is designed to handle three primary and two…

Current end-to-end autonomous driving systems are fundamentally limited by a mismatch between temporal causal reasoning and global trajectory consistency. Autoregressive (AR) models capture interaction-aware temporal dependencies via causal…

Recent advancements in autonomous driving (AD) have explored the use of vision-language models (VLMs) within visual question answering (VQA) frameworks for direct driving decision-making. However, these approaches often depend on…