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

This study evaluates two leading approaches for teaching construction robots new skills to understand their applicability for construction automation: a Vision-Language-Action (VLA) model and Reinforcement Learning (RL) methods. The goal is…

End-to-end autonomous driving models based on Vision-Language-Action (VLA) architectures have shown promising results by learning driving policies through behavior cloning on expert demonstrations. However, imitation learning inherently…

This article proposes a model-based deep reinforcement learning (DRL) method to design emergency control strategies for short-term voltage stability problems in power systems. Recent advances show promising results in model-free DRL-based…

Despite the success of CNN models on a variety of Image classification and segmentation tasks, their extensive computational and storage demands pose considerable challenges for real-world deployment on resource-constrained devices.…

Deep Reinforcement Learning (DRL) algorithms have recently made significant strides in improving network performance. Nonetheless, their practical use is still limited in the absence of safe exploration and safe decision-making. In the…

In this paper, we propose a post-training quantization framework of large vision-language models (LVLMs) for efficient multi-modal inference. Conventional quantization methods sequentially search the layer-wise rounding functions by…

The growing computational demands of training large language models (LLMs) necessitate more efficient methods. Quantized training presents a promising solution by enabling low-bit arithmetic operations to reduce these costs. While FP8…

Vision-Language-Action (VLA) models are promising for generalist robot control, but on-robot deployment is bottlenecked by real-time inference under tight cost and energy budgets. Most prior evaluations rely on desktop-grade GPUs, obscuring…

Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…

Vision-Language-Action (VLA) models have emerged as powerful generalist policies for robotic control, yet their performance scaling across model architectures and hardware platforms, as well as their associated power budgets, remain poorly…

Large language models (LLMs) have shown immense potential across various domains, but their high memory requirements and inference costs remain critical challenges for deployment. Post-training quantization (PTQ) has emerged as a promising…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation, but their reliance on expert demonstrations limits their ability to learn from failures and perform self-corrections. Reinforcement…

Training Vision-Language-Action (VLA) models for generalist robots typically requires large-scale real-world robot data, which is expensive and time-consuming to collect. The inefficiency of physical data collection severely limits the…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

Imitation Learning (IL) is a powerful technique for intuitive robotic programming. However, ensuring the reliability of learned behaviors remains a challenge. In the context of reaching motions, a robot should consistently reach its goal,…

Multimodal Large Language Models (MLLMs) have shown strong reasoning ability, but their high computational and memory costs hinder deployment in resource-constrained settings. While Post-Training Quantization (PTQ) and vision token pruning…

Large language models (LLMs) have grown beyond the memory capacity of single GPU devices, necessitating quantization techniques for practical deployment. While NF4 (4-bit NormalFloat) quantization enables 4$\times$ memory reduction,…

Humans are masters at quickly learning many complex tasks, relying on an approximate understanding of the dynamics of their environments. In much the same way, we would like our learning agents to quickly adapt to new tasks. In this paper,…

Large language models (LLMs) have revolutionized natural language processing tasks. However, their practical deployment is hindered by their immense memory and computation requirements. Although recent post-training quantization (PTQ)…