相关论文: Towards a Generalizable Bimanual Foundation Policy…

Moving beyond the traditional paradigm of adapting internet-pretrained models to physical tasks, we present DM0, an Embodied-Native Vision-Language-Action (VLA) framework designed for Physical AI. Unlike approaches that treat physical…

Recently, Vision-Language-Action models (VLA) have advanced robot imitation learning, but high data collection costs and limited demonstrations hinder generalization and current imitation learning methods struggle in out-of-distribution…

Learning diverse manipulation skills for real-world robots is severely bottlenecked by the reliance on costly and hard-to-scale teleoperated demonstrations. While human videos offer a scalable alternative, effectively transferring…

Large behavior models have shown strong dexterous manipulation capabilities by extending imitation learning to large-scale training on multi-task robot data, yet their generalization remains limited by the insufficient robot data coverage.…

In this work we propose a novel end-to-end imitation learning approach which combines natural language, vision, and motion information to produce an abstract representation of a task, which in turn is used to synthesize specific motion…

While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" recipe translates to robotics, where training data is…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

Asynchronous inference has emerged as a prevalent paradigm in robotic manipulation, achieving significant progress in ensuring trajectory smoothness and efficiency. However, a systemic challenge remains unresolved, as inherent latency…

Integrating visual-language instructions into visuomotor policies is gaining momentum in robot learning for enhancing open-world generalization. Despite promising advances, existing approaches face two challenges: limited language…

Vision-language-action (VLA) models provide a powerful approach to training control policies for physical systems, such as robots, by combining end-to-end learning with transfer of semantic knowledge from web-scale vision-language model…

Recent end-to-end robotic manipulation research increasingly adopts architectures inspired by large language models to enable robust manipulation. However, a critical challenge arises from severe distribution shifts between robotic action…

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…

Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing motor skills; instead, they expose a…

Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…

Recently, leveraging pre-trained vision-language models (VLMs) for building vision-language-action (VLA) models has emerged as a promising approach to effective robot manipulation learning. However, only few methods incorporate 3D signals…

Robust robotic manipulation requires not only predicting how the scene evolves over time, but also recognizing task-relevant objects in complex scenes. However, existing VLA models face two limitations. They typically act only on the…

Bimanual manipulation is essential in robotics, yet developing foundation models is extremely challenging due to the inherent complexity of coordinating two robot arms (leading to multi-modal action distributions) and the scarcity of…

Imitation learning has proven to be highly effective in teaching robots dexterous manipulation skills. However, it typically relies on large amounts of human demonstration data, which limits its scalability and applicability in dynamic,…

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…

Bimanual robot learning from demonstrations is fundamentally limited by the cost and narrow visual diversity of real-world data, which constrains policy robustness across viewpoints, object configurations, and embodiments. We present…