相关论文: Physical Autoregressive Model for Robotic Manipula…

Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging for…

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…

Visual Autoregressive (VAR) modeling inefficiently applies a fixed computational depth to each position when generating high-resolution images. While existing methods accelerate inference by pruning tokens using frequency maps, their binary…

Active perception and manipulation are crucial for robots to interact with complex scenes. Existing methods struggle to unify semantic-driven active perception with robust, viewpoint-invariant execution. We propose SaPaVe, an end-to-end…

This article develops Probabilistic Hybrid Action Models (PHAMs), a realistic causal model for predicting the behavior generated by modern percept-driven robot plans. PHAMs represent aspects of robot behavior that cannot be represented by…

Temporal modeling is crucial for various video learning tasks. Most recent approaches employ either factorized (2D+1D) or joint (3D) spatial-temporal operations to extract temporal contexts from the input frames. While the former is more…

Generalist Vision-Language-Action models are currently hindered by the scarcity of robotic data compared to the abundance of human video demonstrations. Existing Latent Action Models attempt to leverage video data but often suffer from…

Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be…

Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…

Motion capture from a monocular video is fundamental and crucial for us humans to naturally experience and interact with each other in Virtual Reality (VR) and Augmented Reality (AR). However, existing methods still struggle with…

Recent developments in Large Language Models pre-trained on extensive corpora have shown significant success in various natural language processing tasks with minimal fine-tuning. This success offers new promise for robotics, which has long…

Autoregressive vision-language-action (VLA) models have recently demonstrated strong capabilities in robotic manipulation. However, their core process of action tokenization often involves a trade-off between reconstruction fidelity and…

This paper challenges the dominance of continuous pipelines in visual generation. We systematically investigate the performance gap between discrete and continuous methods. Contrary to the belief that discrete tokenizers are intrinsically…

Visual AutoRegressive (VAR) modeling has garnered significant attention for its innovative next-scale prediction paradigm. However, mainstream VAR paradigms attend to all tokens across historical scales at each autoregressive step. As the…

We explore the potential of large-scale generative video models for autonomous driving, introducing an open-source auto-regressive video model (VaViM) and its companion video-action model (VaVAM) to investigate how video pre-training…

Recent unsupervised pre-training methods have shown to be effective on language and vision domains by learning useful representations for multiple downstream tasks. In this paper, we investigate if such unsupervised pre-training methods can…

In computer animation, game design, and human-computer interaction, synthesizing human motion that aligns with user intent remains a significant challenge. Existing methods have notable limitations: textual approaches offer high-level…

Vision-language-action (VLA) models remain constrained by the scarcity of action-labeled robot data, whereas action-free videos provide abundant evidence of how the physical world changes. Latent action models offer a promising way to…

3D human motion prediction is a research area of high significance and a challenge in computer vision. It is useful for the design of many applications including robotics and autonomous driving. Traditionally, autogregressive models have…

Robotic manipulation requires anticipating how the environment evolves in response to actions, yet most existing systems lack this predictive capability, often resulting in errors and inefficiency. While Vision-Language Models (VLMs)…