相关论文: WorldGym: World Model as An Environment for Policy…

Leveraging temporal context is crucial for success in partially observable robotic tasks. However, prior work in behavior cloning has demonstrated inconsistent performance gains when using multi-frame observations. In this paper, we…

Post-training is essential for turning pretrained generalist robot policies into reliable task-specific controllers, but existing human-in-the-loop pipelines remain tied to physical execution: each correction requires robot time, scene…

Amid growing efforts to leverage advances in large language models (LLMs) and vision-language models (VLMs) for robotics, Vision-Language-Action (VLA) models have recently gained significant attention. By unifying vision, language, and…

Long-horizon planning is widely recognized as a core capability of autonomous LLM-based agents; however, current evaluation frameworks suffer from being largely episodic, domain-specific, or insufficiently grounded in persistent economic…

Despite promising progress in reinforcement learning (RL), developing algorithms for autonomous driving (AD) remains challenging: one of the critical issues being the absence of an open-source platform capable of training and effectively…

Reinforcement Learning (RL) has made significant strides in complex tasks but struggles in multi-task settings with different embodiments. World model methods offer scalability by learning a simulation of the environment but often rely on…

Learning robust and generalizable world models is crucial for enabling efficient and scalable robotic control in real-world environments. In this work, we introduce a novel framework for learning world models that accurately capture…

Learning to control robots directly based on images is a primary challenge in robotics. However, many existing reinforcement learning approaches require iteratively obtaining millions of robot samples to learn a policy, which can take…

World Action Models (WAMs) have emerged as a promising paradigm for robot control by modeling physical dynamics. Current WAMs generally follow two paradigms: the "Imagine-then-Execute" approach, which uses video prediction to infer actions…

We present WorldVLA, an autoregressive action world model that unifies action and image understanding and generation. Our WorldVLA intergrates Vision-Language-Action (VLA) model and world model in one single framework. The world model…

This work highlights that video world modeling, alongside vision-language pre-training, establishes a fresh and independent foundation for robot learning. Intuitively, video world models provide the ability to imagine the near future by…

Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

Scalable and reproducible policy evaluation has been a long-standing challenge in robot learning. Evaluations are critical to assess progress and build better policies, but evaluation in the real world, especially at a scale that would…

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and…

This paper presents the World-Action Model (WAM), an action-regularized world model that jointly reasons over future visual observations and the actions that drive state transitions. Unlike conventional world models trained solely via image…

Vision-Language-Action (VLA) models have recently achieved notable progress in end-to-end autonomous driving by integrating perception, reasoning, and control within a unified multimodal framework. However, they often lack explicit modeling…

Vision-Language-Action (VLA) models have achieved strong semantic generalization for embodied policy learning, yet they learn reactive observation-to-action mappings without explicitly modeling how the physical world evolves under…

The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…

While Vision-Language Models (VLMs) have achieved remarkable progress in static visual understanding, their deployment in complex 3D embodied environments remains severely limited. Existing benchmarks suffer from four critical deficiencies:…