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

We present ProgVLA, a compact vision-language-action (VLA) model designed for reliable robot manipulation under tight compute and memory budgets. The model specifically focuses on efficiently processing long multi-modal sequences by…

Recent advances in Vision-Language-Action (VLA) models have enabled robotic agents to integrate multimodal understanding with action execution. However, our empirical analysis reveals that current VLAs struggle to allocate visual attention…

The important manifestation of robot intelligence is the ability to naturally interact and autonomously make decisions. Traditional approaches to robot control often compartmentalize perception, planning, and decision-making, simplifying…

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…

Pre-trained large language models (LLMs) have demonstrated strong common-sense reasoning abilities, making them promising for robotic navigation and planning tasks. However, despite recent progress, bridging the gap between language…

To utilize Foundation Vision Language Models (VLMs) for robotic tasks and motion planning, the community has proposed different methods for injecting action components into VLMs and building the Vision-Language-Action models (VLAs). In this…

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates…

We address natural language pick-and-place in unseen, unpredictable indoor environments with AnywhereVLA, a modular framework for mobile manipulation. A user text prompt serves as an entry point and is parsed into a structured task graph…

Large vision-language models (VLMs) excel at multimodal understanding but fall short when extended to embodied tasks, where instructions must be transformed into low-level motor actions. We introduce ST4VLA, a dual-system…

Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integrate semantic understanding with visual perception to…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into robotic actions. Despite their recent advancements,…

One promise that Vision-Language-Action (VLA) models hold over traditional imitation learning for robotics is to leverage the broad generalization capabilities of large Vision-Language Models (VLMs) to produce versatile, "generalist" robot…

A fundamental challenge in robot navigation lies in learning policies that generalize across diverse environments while conforming to the unique physical constraints and capabilities of a specific embodiment (e.g., quadrupeds can walk up…

Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…

General-purpose pre-trained models ("foundation models") have enabled practitioners to produce generalizable solutions for individual machine learning problems with datasets that are significantly smaller than those required for learning…

As robots become increasingly integrated into open-world, human-centered environments, their ability to interpret natural language instructions and adhere to safety constraints is critical for effective and trustworthy interaction. Existing…

Vision-Language-Action (VLA) models aim to control robots for manipulation from visual observations and natural-language instructions. However, existing hierarchical and autoregressive paradigms often introduce architectural overhead,…