相关论文: Quantization-Aware Imitation-Learning for Resource…

Deep neural networks have been proven effective in a wide range of tasks. However, their high computational and memory costs make them impractical to deploy on resource-constrained devices. To address this issue, quantization schemes have…

Large-scale pre-trained Vision-Language Models (VLMs) have gained prominence in various visual and multimodal tasks, yet the deployment of VLMs on downstream application platforms remains challenging due to their prohibitive requirements of…

Manipulation tasks, like loading a dishwasher, can be seen as a sequence of spatial constraints and relationships between different objects. We aim to discover these rules from demonstrations by posing manipulation as a classification…

Network quantization is one of the most hardware friendly techniques to enable the deployment of convolutional neural networks (CNNs) on low-power mobile devices. Recent network quantization techniques quantize each weight kernel in a…

In an ever expanding set of research and application areas, deep neural networks (DNNs) set the bar for algorithm performance. However, depending upon additional constraints such as processing power and execution time limits, or…

The pursuit of robot generalists, agents capable of performing diverse tasks across diverse environments, demands rigorous and scalable evaluation. Yet real-world testing of robot policies remains fundamentally constrained: it is…

Vision-Language-Action (VLA) models exhibit remarkable action generation for embodied intelligence, but their heavy compute make deployment on edge platforms impractical. Aggressive, sub-4-bit weight quantization is the natural solution,…

In this paper, we introduce an innovative vector quantization based action tokenizer built upon the largest-scale action trajectory dataset to date, leveraging over 100 times more data than previous approaches. This extensive dataset…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for generalist robotic control. Built upon vision-language model (VLM) architectures, VLAs predict actions conditioned on visual observations and language…

Recently, the number of parameters in DNNs has explosively increased, as exemplified by LLMs (Large Language Models), making inference on small-scale computers more difficult. Model compression technology is, therefore, essential for…

Deep learning models have achieved tremendous success in most of the industries in recent years. The evolution of these models has also led to an increase in the model size and energy requirement, making it difficult to deploy in production…

Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify…

Model quantization enables efficient deployment of deep neural networks on edge devices through low-bit parameter representation, yet raises critical challenges for implementing machine unlearning (MU) under data privacy regulations.…

Vision-language-action (VLA) models have significantly advanced robotic manipulation by integrating vision-language models (VLMs), and action decoders into a unified architecture. However, their deployment on resource-constrained edge…

Quantization is an essential and popular technique for improving the accessibility of large language models (LLMs) by reducing memory usage and computational costs while maintaining performance. In this study, we apply 4-bit Group Scaling…

Vision-Language-Action (VLA) models demonstrate significant potential for developing generalized policies in real-world robotic control. This progress inspires researchers to explore fine-tuning these models with Reinforcement Learning…

In recent years, deep neural networks (DNNs), have yielded strong results on a wide range of applications. Graphics Processing Units (GPUs) have been one key enabling factor leading to the current popularity of DNNs. However, despite…

Teaching robots dexterous skills from human videos remains challenging due to the reliance on low-level trajectory imitation, which fails to generalize across object types, spatial layouts, and manipulator configurations. We propose…

Deep neural network (DNN) quantization converting floating-point (FP) data in the network to integers (INT) is an effective way to shrink the model size for memory saving and simplify the operations for compute acceleration. Recently,…

Vision-Language-Action (VLA) models have demonstrated strong performance in robotic manipulation, yet their closed-loop deployment is hindered by the high latency and compute cost of repeatedly running large vision-language backbones at…