相关论文: DeLTa: Demonstration and Language-Guided Novel Tra…

Dexterous manipulation is essential for real-world robot autonomy, mirroring the central role of human hand coordination in daily activity. Humans rely on rich multimodal perception--vision, sound, and language-guided intent--to perform…

Vision-Language-Action (VLA) models have recently achieved remarkable progress in robotic perception and control, yet most existing approaches primarily rely on VLM trained using 2D images, which limits their spatial understanding and…

Effective planning of long-horizon deformable object manipulation requires suitable abstractions at both the spatial and temporal levels. Previous methods typically either focus on short-horizon tasks or make strong assumptions that…

Vision-language-action (VLA) models are effective robot action executors, but they remain limited on long-horizon tasks due to the dual burden of extended closed-loop planning and diverse physical operations. We therefore propose…

Vision-language-action models (VLAs) have become an increasingly popular approach for addressing robot manipulation problems in recent years. However, such models need to output actions at a rate suitable for robot control, which limits the…

Current Vision-Language-Action (VLA) models predominantly rely on end-to-end fine-tuning. While effective, this paradigm compromises the inherent generalization capabilities of Vision-Language Models (VLMs) and incurs catastrophic…

The astounding performance of transformers in natural language processing (NLP) has motivated researchers to explore their applications in computer vision tasks. DEtection TRansformer (DETR) introduces transformers to object detection tasks…

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…

Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities for end-to-end robot control, existing…

Long-horizon tasks in robotic manipulation present significant challenges in reinforcement learning (RL) due to the difficulty of designing dense reward functions and effectively exploring the expansive state-action space. However, despite…

Many modern robotic systems operate autonomously, however they often lack the ability to accurately analyze the environment and adapt to changing external conditions, while teleoperation systems often require special operator skills. In the…

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…

Mesh deformation is a fundamental tool in 3D content manipulation. Despite extensive prior research, existing approaches often suffer from low output quality, require significant manual tuning, or depend on data-intensive training. To…

Vision-language pre-training (VLP) has recently proven highly effective for various uni- and multi-modal downstream applications. However, most existing end-to-end VLP methods use high-resolution image-text box data to perform well on…

Grasping large and flat objects (e.g. a book or a pan) is often regarded as an ungraspable task, which poses significant challenges due to the unreachable grasping poses. Previous works leverage Extrinsic Dexterity like walls or table edges…

While end-to-end Vision-Language-Action (VLA) models offer a promising paradigm for robotic manipulation, fine-tuning them on narrow control data often compromises the profound reasoning capabilities inherited from their base…

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,…

Recent advances in robot manipulation have leveraged pre-trained vision-language models (VLMs) and explored integrating 3D spatial signals into these models for effective action prediction, giving rise to the promising…

Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based…

Significant progress has been made in vision-language models. However, language-conditioned robotic manipulation for contact-rich tasks remains underexplored, particularly in terms of tactile sensing. To address this gap, we introduce the…