相关论文: EndoVLA: Dual-Phase Vision-Language-Action Model f…

Vision Language Action models have significantly advanced general purpose robotic manipulation by harnessing large scale pretrained vision and language representations. Among existing approaches, a majority of current VLA systems employ…

In-vivo environments, magnetically actuated soft robots offer advantages such as wireless operation and precise control, showing promising potential for painless detection and therapeutic procedures. We developed a trileg magnetically…

We present DyNaVLM, an end-to-end vision-language navigation framework using Vision-Language Models (VLM). In contrast to prior methods constrained by fixed angular or distance intervals, our system empowers agents to freely select…

Vision-language-action (VLA) models have significantly advanced robotic learning, enabling training on large-scale, cross-embodiment data and fine-tuning for specific robots. However, state-of-the-art autoregressive VLAs struggle with…

Autonomous driving requires generating safe and reliable trajectories from complex multimodal inputs. Traditional modular pipelines separate perception, prediction, and planning, while recent end-to-end (E2E) systems learn them jointly.…

Egocentric videos capture how humans manipulate objects and tools, providing diverse motion cues for learning object manipulation. Unlike the costly, expert-driven manual teleoperation commonly used in training Vision-Language-Action models…

Vision-Language-Action (VLA) models have shown strong performance on embodied manipulation, yet they remain brittle under visual observation changes, paraphrased language instructions, and compounded perturbations. This limitation suggests…

Endoscopic procedures such as esophagogastroduodenoscopy (EGD) and colonoscopy play a critical role in diagnosing and managing gastrointestinal (GI) disorders. However, the documentation burden associated with these procedures place…

Recent progress in Reinforcement Learning (RL) provides a principled approach to optimizing Vision-Language-Action (VLA) models, facilitating a shift from trajectory imitation to active learning in the task environment. Despite improvements…

Vision-language-action (VLA) models show potential for general robotic tasks, but remain challenging in spatiotemporally coherent manipulation, which requires fine-grained representations. Typically, existing methods embed 3D positions into…

Vision-Language-Action (VLA) models, particularly diffusion-based architectures, demonstrate transformative potential for embodied intelligence but are severely hampered by high computational and memory demands stemming from extensive…

Vision-Language-Action (VLA) models frequently encounter challenges in generalizing to real-world environments due to inherent discrepancies between observation and action spaces. Although training data are collected from diverse camera…

Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…

Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…

Vision-language-action models (VLAs) have shown potential in leveraging pretrained vision-language models and diverse robot demonstrations for learning generalizable sensorimotor control. While this paradigm effectively utilizes large-scale…

In modern healthcare, the demand for autonomous robotic assistants has grown significantly, particularly in the operating room, where surgical tasks require precision and reliability. Robotic scrub nurses have emerged as a promising…

Vision-Language-Action (VLA) models for autonomous driving show promise but falter in unstructured corner case scenarios, largely due to a scarcity of targeted benchmarks. To address this, we introduce Impromptu VLA. Our core contribution…

In the last decade, many medical companies and research groups have tried to convert passive capsule endoscopes as an emerging and minimally invasive diagnostic technology into actively steerable endoscopic capsule robots which will provide…

The rapid progress of auto-regressive vision-language models (VLMs) has inspired growing interest in vision-language-action models (VLA) for robotic manipulation. Recently, masked diffusion models, a paradigm distinct from autoregressive…

The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…