相关论文: Do What? Teaching Vision-Language-Action Models to…

Vision-Language-Action (VLA) models have gained popularity for learning robotic manipulation tasks that follow language instructions. State-of-the-art VLAs, such as OpenVLA and $\pi_{0}$, were trained on large-scale, manually labeled action…

Vision-language-action models must enable agents to execute long-horizon tasks under partial observability. However, most existing approaches remain observation-driven, relying on short context windows or repeated queries to vision-language…

The emergence of Vision Language Action (VLA) models marks a paradigm shift from traditional policy-based control to generalized robotics, reframing Vision Language Models (VLMs) from passive sequence generators into active agents for…

We introduce OG-VLA, a novel architecture and learning framework that combines the generalization strengths of Vision Language Action models (VLAs) with the robustness of 3D-aware policies. We address the challenge of mapping natural…

The rise of foundation models paves the way for generalist robot policies in the physical world. Existing methods relying on text-only instructions often struggle to generalize to unseen scenarios. We argue that interleaved image-text…

Vision-language-action models (VLAs) have been extensively used in robotics applications, achieving great success in various manipulation problems. More recently, VLAs have been used in long-horizon tasks and evaluated on benchmarks, such…

Robot action planning in the real world is challenging as it requires not only understanding the current state of the environment but also predicting how it will evolve in response to actions. Vision-language-action (VLA), which repurpose…

Vision-language action (VLA) policies often report strong manipulation benchmark performance with relatively few demonstrations, but it remains unclear whether this reflects robust language-to-object grounding or reliance on…

Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning,…

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…

Vision-Language-Action (VLA) models combine perception, language, and motor control in a single architecture, yet how they translate multimodal inputs into actions remains poorly understood. We apply activation injection, sparse…

Vision-Language-Action (VLA) models aim for general robot learning by aligning action as a modality within powerful Vision-Language Models (VLMs). Existing VLAs rely on end-to-end supervision to implicitly enable the action decoding process…

In recent human-robot collaboration environments, there is a growing focus on integrating diverse sensor data beyond visual information to enable safer and more intelligent task execution. Although thermal data can be crucial for enhancing…

Leveraging pretrained Vision-Language Models (VLMs) to map language instruction and visual observations to raw low-level actions, Vision-Language-Action models (VLAs) hold great promise for achieving general-purpose robotic systems. Despite…

Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy…

Teaching robots desired skills in real-world environments remains challenging, especially for non-experts. A key bottleneck is that collecting robotic data often requires expertise or specialized hardware, limiting accessibility and…

Despite the significant success of Large Vision-Language models(LVLMs), these models still suffer hallucinations when describing images, generating answers that include non-existent objects. It is reported that these models tend to…

Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…

Research on Vision Language Action (VLA) models has been increasing rapidly in recent years. Although some of them focus on detecting, preventing, and recovering from task failures, they usually don't deal with adapting to robot's physical…

Vision-language-action (VLA) models provide strong action priors for robotic manipulation, but their reactive behavior can fail under distribution shift and long-horizon task structure. Recent VLA-guided planning methods improve execution…