相关论文: Learning Affordances at Inference-Time for Vision-…

Latent actions serve as an intermediate representation that enables consistent modeling of vision-language-action (VLA) models across heterogeneous datasets. However, approaches to supervising VLAs with latent actions are fragmented and…

Visual affordance learning is a key component for robots to understand how to interact with objects. Conventional approaches in this field rely on pre-defined objects and actions, falling short of capturing diverse interactions in realworld…

Vision-Language-Action (VLA) models have demonstrated strong performance in robotic manipulation, yet their closed-loop deployment is hindered by the high latency and compute cost of repeatedly running large vision-language backbones at…

Vision-language-action (VLA) models for closed-loop robot control are typically cast under the Markov assumption, making them prone to errors on tasks requiring historical context. To incorporate memory, existing VLAs either retrieve from a…

Recent Vision-Language-Action (VLA) models show strong generalization capabilities, yet they lack introspective mechanisms for anticipating failures and requesting help from a human supervisor. We present \textbf{INSIGHT}, a learning…

Vision-Language Models (VLMs) have become essential backbones of modern multimodal intelligence, yet their outputs remain prone to hallucination-plausible text misaligned with visual inputs. Existing alignment approaches often rely on…

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…

Reinforcement learning systems rely on environment interfaces that specify observations and reward functions, yet constructing these interfaces for new tasks often requires substantial manual effort. While recent work has automated reward…

Reinforcement learning (RL) is a promising approach for robotic manipulation, but it can suffer from low sample efficiency and requires extensive exploration of large state-action spaces. Recent methods leverage the commonsense knowledge…

Latent Action Models (LAMs) have rapidly gained traction as an important component in the pre-training pipelines of leading Vision-Language-Action models. However, they fail when observations contain action-correlated distractors, often…

Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…

In this paper, we address the discovery of robotic options from demonstrations in an unsupervised manner. Specifically, we present a framework to jointly learn low-level control policies and higher-level policies of how to use them from…

Vision-Language Navigation (VLN) enables robots to follow natural-language instructions in visually grounded environments, serving as a key capability for embodied robotic systems. Recent Vision-Language-Action (VLA) models have…

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,…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours. However, it still struggles with long-horizon, multi-object tasks due to poor sample efficiency and limited generalisation. Existing methods…

Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing motor skills; instead, they expose a…

Vision-Language-Action (VLA) models have recently shown strong decision-making capabilities in autonomous driving. However, existing VLAs often struggle with achieving efficient inference and generalizing to novel autonomous vehicle…

Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…

A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training. Standard practices such as data augmentation attempt to bridge this gap by augmenting source images in an effort to…