相关论文: Saliency-Aware Quantized Imitation Learning for Ef…

Deep neural network (DNN)-based policy models like vision-language-action (VLA) models are transformative in automating complex decision-making across applications by interpreting multi-modal data. However, scaling these models greatly…

Despite remarkable successes in solving various complex decision-making tasks, training an imitation learning (IL) algorithm with deep neural networks (DNNs) suffers from the high computation burden. In this work, we propose quantum…

Vision-Language-Action (VLA) models exhibit unprecedented capabilities for embodied intelligence. However, their extensive computational and memory costs hinder their practical deployment. Existing VLA compression and acceleration…

Real-world tasks such as garment manipulation and table rearrangement demand robots to perform generalizable, highly precise, and long-horizon actions. Although imitation learning has proven to be an effective approach for teaching robots…

Recent advances in deep reinforcement learning (RL) have demonstrated its potential to learn complex robotic manipulation tasks. However, RL still requires the robot to collect a large amount of real-world experience. To address this…

Incorporating various modes of information into the machine learning procedure is becoming a new trend. And data from various source can provide more information than single one no matter they are heterogeneous or homogeneous. Existing deep…

Learning to imitate expert behavior from demonstrations can be challenging, especially in environments with high-dimensional, continuous observations and unknown dynamics. Supervised learning methods based on behavioral cloning (BC) suffer…

Weight quantization is used to deploy high-performance deep learning models on resource-limited hardware, enabling the use of low-precision integers for storage and computation. Spiking neural networks (SNNs) share the goal of enhancing…

Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined to executing the task at the same speed as shown in…

Generalizing policies to unseen scenarios remains a critical challenge in visual reinforcement learning, where agents often overfit to the specific visual observations of the training environment. In unseen environments, distracting pixels…

Vision-Language-Action (VLA) models are dominant in embodied intelligence but are constrained by inference overheads. While model quantization alleviates these bottlenecks for edge deployment, static quantization approaches remain…

The advent of Vision-Language-Action (VLA) models represents a significant leap for embodied intelligence, yet their immense computational demands critically hinder deployment on resource-constrained robotic platforms. Intuitively, low-bit…

Learning representations for reinforcement learning (RL) has shown much promise for continuous control. We propose an efficient representation learning method using only a self-supervised latent-state consistency loss. Our approach employs…

Large language models can be quantized to reduce inference time latency, model size, and energy consumption, thereby delivering a better user experience at lower cost. A challenge exists to deliver quantized models with minimal loss of…

Designing a deep neural network (DNN) with good generalization capability is a complex process especially when the weights are severely quantized. Model averaging is a promising approach for achieving the good generalization capability of…

Vision-Language-Action (VLA) models commonly adapt pretrained Vision-Language Models (VLMs) to robot control by mapping visual observations and language instructions to continuous actions. Existing approaches typically take an…

Deep reinforcement learning for high dimensional, hierarchical control tasks usually requires the use of complex neural networks as functional approximators, which can lead to inefficiency, instability and even divergence in the training…

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…

Large language models (LLMs) excel at natural language tasks but face deployment challenges due to their growing size outpacing GPU memory advancements. Model quantization mitigates this issue by lowering weight and activation precision,…

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…