相关论文: OmniVLA: An Omni-Modal Vision-Language-Action Mode…

Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA systems often lose key capabilities…

We present DyNaVLM, an end-to-end vision-language navigation framework using Vision-Language Models (VLM). In contrast to prior methods constrained by fixed angular or distance intervals, our system empowers agents to freely select…

Conventional approaches to vision-and-language navigation (VLN) are trained end-to-end but struggle to perform well in freely traversable environments. Inspired by the robotics community, we propose a modular approach to VLN using…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Physical Human-Scene Interaction (HSI) plays a crucial role in numerous applications. However, existing HSI techniques are limited to specific object dynamics and privileged information, which prevents the development of more comprehensive…

Recent vision-language-action (VLA) models rely on 2D inputs, lacking integration with the broader realm of the 3D physical world. Furthermore, they perform action prediction by learning a direct mapping from perception to action,…

Vision-Language-Action (VLA) models have emerged as a popular paradigm for learning robot manipulation policies that can follow language instructions and generalize to novel scenarios. Recent works have begun to explore the incorporation of…

Vision-Language-Action (VLA) models represent a pivotal advance in embodied intelligence, yet they confront critical barriers to real-world deployment, most notably catastrophic forgetting. This issue stems from their overreliance on…

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…

Real-world embodied agents face long-horizon tasks, characterized by high-level goals demanding multi-step solutions beyond single actions. Successfully navigating these requires both high-level task planning (i.e., decomposing goals into…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

Vision-and-Language Navigation (VLN) requires agents to interpret natural language instructions and act coherently in visually rich environments. However, most existing methods rely on reactive state-action mappings without explicitly…

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…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for embodied intelligence, enabling robots to perform tasks based on natural language instructions and current visual input. However, existing VLA models struggle with…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

Vision-language-action (VLA) models perform well on training-seen robotic tasks but struggle to generalize to unseen scenes and objects. A key limitation lies in their implicit visual representations, which entangle object appearance,…

General-purpose robots capable of performing diverse tasks require synergistic reasoning and acting capabilities. However, recent dual-system approaches, which separate high-level reasoning from low-level acting, often suffer from…

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…

General-purpose robots must master long-horizon manipulation, defined as tasks involving multiple kinematic structure changes (e.g., attaching or detaching objects) in unstructured environments. While Vision-Language-Action (VLA) models…

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…