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

Recent advances in large language models, particularly following GPT-4o, have sparked increasing interest in developing omni-modal models capable of understanding more modalities. While some open-source alternatives have emerged, there is…

Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained…

Vision-language navigation (VLN) requires intelligent agents to navigate environments by interpreting linguistic instructions alongside visual observations, serving as a cornerstone task in Embodied AI. Current VLN research for unmanned…

We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…

Recent Vision-Language-Action (VLA) models built on pre-trained Vision-Language Models (VLMs) require extensive post-training, resulting in high computational overhead that limits scalability and deployment.We propose CogVLA, a…

Vision-Language-Action (VLA) models have become a cornerstone in robotic policy learning, leveraging large-scale multimodal data for robust and scalable control. However, existing VLA frameworks primarily address short-horizon tasks, and…

Recent advancements in Vision-Language-Action (VLA) models have shown promise for end-to-end autonomous driving by leveraging world knowledge and reasoning capabilities. However, current VLA models often struggle with physically infeasible…

Vision-Language-Action (VLA) models have emerged as a promising approach for enabling robots to follow language instructions and predict corresponding actions. However, current VLA models mainly rely on 2D visual inputs, neglecting the rich…

Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…

This paper presents OmniJARVIS, a novel Vision-Language-Action (VLA) model for open-world instruction-following agents in Minecraft. Compared to prior works that either emit textual goals to separate controllers or produce the control…

Language-driven object navigation requires agents to interpret natural language descriptions of target objects, which combine intrinsic and extrinsic attributes for instance recognition and commonsense navigation. Existing methods either…

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,…

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…

While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" recipe translates to robotics, where training data is…

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…

Recent progress in large language models and access to large-scale robotic datasets has sparked a paradigm shift in robotics models transforming them into generalists able to adapt to various tasks, scenes, and robot modalities. A large…

Vision-language-action models (VLAs) have become increasingly popular in robot manipulation for their end-to-end design and remarkable performance. However, existing VLAs rely heavily on vision-language models (VLMs) that only support…

In the domain of humanoid robot control, the fusion of Vision-Language-Action (VLA) with whole-body control is essential for semantically guided execution of real-world tasks. However, existing methods encounter challenges in terms of low…

While imitation learning for vision based autonomous mobile robot navigation has recently received a great deal of attention in the research community, existing approaches typically require state action demonstrations that were gathered…

Fine-tuning vision-language models (VLMs) on robot teleoperation data to create vision-language-action (VLA) models is a promising paradigm for training generalist policies, but it suffers from a fundamental tradeoff: learning to produce…