相关论文: Ego-centric Predictive Model Conditioned on Hand T…

In this report, we present a novel three-stage framework developed for the Ego4D Long-Term Action Anticipation (LTA) task. Inspired by recent advances in foundation models, our method consists of three stages: feature extraction, action…

We introduce iFlyBot-VLA, a large-scale Vision-Language-Action (VLA) model trained under a novel framework. The main contributions are listed as follows: (1) a latent action model thoroughly trained on large-scale human and robotic…

Vision-Language-Action (VLA) models benefit from chain-of-thought (CoT) reasoning, but existing approaches incur high inference overhead and rely on discrete reasoning representations that mismatch continuous perception and control. We…

Imitation learning based visuomotor policies have achieved strong performance in robotic manipulation, yet they often remain sensitive to egocentric viewpoint shifts. Unlike third-person viewpoint changes that only move the camera,…

Vision-Language-Action (VLA) models have recently become highly prominent in the field of robotics. Leveraging vision-language foundation models trained on large-scale internet data, the VLA model can generate robotic actions directly from…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for building embodied agents that ground perception and language into action. However, most existing approaches rely on direct action prediction, lacking the ability…

Vision Language Action (VLA) models derive their generalization capability from diverse training data, yet collecting embodied robot interaction data remains prohibitively expensive. In contrast, human demonstration videos are far more…

In this paper, we propose GTA-VLA(Guide, Think, Act), an interactive Vision-Language-Action (VLA) framework that enables spatially steerable embodied reasoning by allowing users to guide robot policies with explicit visual cues. Existing…

Human-object interaction is one of the most important visual cues and we propose a novel way to represent human-object interactions for egocentric action anticipation. We propose a novel transformer variant to model interactions by…

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 egocentric video understanding, the motion of hands and objects as well as their interactions play a significant role by nature. However, existing egocentric video representation learning methods mainly focus on aligning video…

Generative world models have shown promise for simulating dynamic environments, yet egocentric video remains challenging due to rapid viewpoint changes, frequent hand-object interactions, and goal-directed procedures whose evolution depends…

Vision-language-action models have emerged as a crucial paradigm in robotic manipulation. However, existing VLA models exhibit notable limitations in handling ambiguous language instructions and unknown environmental states. Furthermore,…

Vision-Language-Action (VLA) models have emerged as a unified paradigm for robotic perception and control, enabling emergent generalization and long-horizon task execution. However, their deployment in dynamic, real-world environments is…

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,…

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…

Recent studies on Vision-Language-Action (VLA) models have shifted from the end-to-end action-generation paradigm toward a pipeline involving task planning followed by action generation, demonstrating improved performance on various…

In egocentric videos, actions occur in quick succession. We capitalise on the action's temporal context and propose a method that learns to attend to surrounding actions in order to improve recognition performance. To incorporate the…

We introduce an object-aware decoder for improving the performance of spatio-temporal representations on ego-centric videos. The key idea is to enhance object-awareness during training by tasking the model to predict hand positions, object…

Vision-Language-Action (VLA) models frequently encounter challenges in generalizing to real-world environments due to inherent discrepancies between observation and action spaces. Although training data are collected from diverse camera…