相关论文: Unified Video Action Model

Imitation learning has emerged as a promising approach towards building generalist robots. However, scaling imitation learning for large robot foundation models remains challenging due to its reliance on high-quality expert demonstrations.…

Inter prediction is a key technology to reduce the temporal redundancy in video coding. In natural videos, there are usually multiple moving objects with variable velocity, resulting in complex motion fields that are difficult to represent…

Can we turn a video prediction model into a robot policy? Videos, including those of humans or teleoperated robots, capture rich physical interactions. However, most of them lack labeled actions, which limits their use in robot learning. We…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

Vision-Language-Action (VLA) models generalize semantically well but often lack fine-grained modeling of world dynamics. We present MotuBrain, a unified World Action Model that jointly models video and action under a UniDiffuser formulation…

Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation. However, previous approaches predominantly rely on the general comprehension capabilities of vision-language…

Video recognition models often learn scene-biased action representation due to the spurious correlation between actions and scenes in the training data. Such models show poor performance when the test data consists of videos with unseen…

Temporal action segmentation and long-term action anticipation are two popular vision tasks for the temporal analysis of actions in videos. Despite apparent relevance and potential complementarity, these two problems have been investigated…

Vision-language-action (VLA) models aim to understand natural language instructions and visual observations and to execute corresponding actions as an embodied agent. Recent work integrates future images into the understanding-acting loop,…

Utilizing Vision-Language Models (VLMs) for robotic manipulation represents a novel paradigm, aiming to enhance the model's ability to generalize to new objects and instructions. However, due to variations in camera specifications and…

While specialized AI models excel at isolated video tasks like generation or understanding, real-world applications demand complex, iterative workflows that combine these capabilities. To bridge this gap, we introduce UniVA, an open-source,…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…

While a general embodied agent must function as a unified system, current methods are built on isolated models for understanding, world modeling, and control. This fragmentation prevents unifying multimodal generative capabilities and…

Inspired by human neurological structures for action anticipation, we present an action anticipation model that enables the prediction of plausible future actions by forecasting both the visual and temporal future. In contrast to current…

Unified video modeling that combines generation and understanding capabilities is increasingly important but faces two key challenges: maintaining semantic faithfulness during flow-based generation due to text-visual token imbalance and the…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…

Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for robot learning, but their representations are still largely inherited from static image-text pretraining, leaving physical dynamics to be learned from…

Vision-Language-Action (VLA) models built upon Chain-of-Thought (CoT) have achieved remarkable success in advancing general-purpose robotic agents, owing to its significant perceptual comprehension. Recently, since text-only CoT struggles…

We propose Heterogeneous Masked Autoregression (HMA) for modeling action-video dynamics to generate high-quality data and evaluation in scaling robot learning. Building interactive video world models and policies for robotics is difficult…