相关论文: CapsDT: Diffusion-Transformer for Capsule Robot Ma…

Enabling robots to perform diverse tasks across varied environments is a central challenge in robot learning. While vision-language-action (VLA) models have shown promise for generalizable robot skills, realizing their full potential…

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…

In the last decade, researchers and medical device companies have made major advances towards transforming passive capsule endoscopes into active medical robots. One of the major challenges is to endow capsule robots with accurate…

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…

Vision-Language-Action (VLA) models are emerging as a next-generation paradigm for robotics. We introduce dVLA, a diffusion-based VLA that leverages a multimodal chain-of-thought to unify visual perception, language reasoning, and robotic…

Robotic systems are increasingly expected to operate in human-centered, unstructured environments where safety, adaptability, and generalization are essential. Vision-Language-Action (VLA) models have been proposed as a language guided…

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…

Abnormalities in the gastrointestinal tract significantly influence the patient's health and require a timely diagnosis for effective treatment. With such consideration, an effective automatic classification of these abnormalities from a…

In endoscopic procedures, autonomous tracking of abnormal regions and following circumferential cutting markers can significantly reduce the cognitive burden on endoscopists. However, conventional model-based pipelines are fragile for each…

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…

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…

Current capsule endoscopes and next-generation robotic capsules for diagnosis and treatment of gastrointestinal diseases are complex cyber-physical platforms that must orchestrate complex software and hardware functions. The desired tasks…

Learning universal policies from cross-embodied data remains a fundamental challenge in robotics. Although Vision-Language-Action (VLA) models are pre-trained on large and diverse datasets, they typically rely on embodiment-specific…

Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. However, their reliance on vision and language often leads to suboptimal performance in tasks involving visual occlusion, fine-grained…

Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion…

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…

Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integrate semantic understanding with visual perception to…

Vision-Language-Action (VLA) models have achieved remarkable progress in robotic manipulation by mapping multimodal observations and instructions directly to actions. However, they typically mimic expert trajectories without predictive…

In dynamic environments such as warehouses, hospitals, and homes, robots must seamlessly transition between gross motion and precise manipulations to complete complex tasks. However, current Vision-Language-Action (VLA) frameworks, largely…

Ingestible wireless capsule endoscopy is an emerging minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and pathologies. Medical device companies and many research groups have…