相关论文: GR-3 Technical Report

This paper proposes VLA-AN, an efficient and onboard Vision-Language-Action (VLA) framework dedicated to autonomous drone navigation in complex environments. VLA-AN addresses four major limitations of existing large aerial navigation…

Due to their ability of follow natural language instructions, vision-language-action (VLA) models are increasingly prevalent in the embodied AI arena, following the widespread success of their precursors -- LLMs and VLMs. In this paper, we…

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…

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…

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…

We propose to use automatically generated instruction-following data to improve the zero-shot capabilities of a large multimodal model with additional support for generative and image editing tasks. We achieve this by curating a new…

Hierarchical Vision-Language-Action (VLA) models have rapidly become a dominant paradigm for robotic manipulation. It typically comprising a Vision-Language backbone for perception and understanding, together with a generative policy for…

Visual-Language-Action (VLA) models have demonstrated strong cross-scenario generalization capabilities in various robotic tasks through large-scale pre-training and task-specific fine-tuning. However, their training paradigm mainly relies…

We propose Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation (Bi-VLA), a novel framework that extends bilateral control-based imitation learning to handle more than one task within a single model.…

Current vision-language-action (VLA) models, pre-trained on large-scale robotic data, exhibit strong multi-task capabilities and generalize well to variations in visual and language instructions for manipulation. However, their success rate…

While Vision-Language-Action (VLA) models map visual inputs and language instructions directly to robot actions, they often rely on costly hardware and struggle in novel or cluttered scenes. We introduce EverydayVLA, a 6-DOF manipulator…

Vision-Language-Action (VLA) models are driving a revolution in robotics, enabling machines to understand instructions and interact with the physical world. This field is exploding with new models and datasets, making it both exciting and…

Visual Language Action (VLA) models are a multi-modal class of Artificial Intelligence (AI) systems that integrate visual perception, natural language understanding, and action planning to enable agents to interpret their environment,…

Lifelong learning is critical for embodied agents in open-world environments, where reinforcement learning fine-tuning has emerged as an important paradigm to enable Vision-Language-Action (VLA) models to master dexterous manipulation…

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in…

Multi-task ``vision-language-action'' (VLA) models have recently demonstrated increasing promise as generalist foundation models for robotics, achieving non-trivial performance out of the box on new tasks in new environments. However, for…

Trustworthy robot behavior requires not only high levels of task success but also that the robot can reliably quantify how likely it is to succeed. To this end, we present a first-of-its-kind study of confidence calibration in…

To operate effectively in the real world, robots should integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to…

Vision-Language-Action models (VLAs) are emerging as powerful tools for learning generalizable visuomotor control policies. However, current VLAs are mostly trained on large-scale image-text-action data and remain limited in two key ways:…

We present, to our knowledge, the first sign language-driven Vision-Language-Action (VLA) framework for intuitive and inclusive human-robot interaction. Unlike conventional approaches that rely on gloss annotations as intermediate…