相关论文: Running VLAs at Real-time Speed

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The execution of complex multi-step behaviors in VLA models can be improved by robust instruction grounding, a critical component…

Vision-Language-Action (VLA) models have achieved significant breakthroughs by leveraging Large Vision Language Models (VLMs) to jointly interpret instructions and visual inputs. However, the substantial increase in visual tokens,…

Vision-based robotics often separates the control loop into one module for perception and a separate module for control. It is possible to train the whole system end-to-end (e.g. with deep RL), but doing it "from scratch" comes with a high…

This study focuses on implementing a real-time control system for a particle accelerator facility that performs high energy physics experiments. A critical operating parameter in this facility is beam loss, which is the fraction of…

Visual Language Action (VLA) models are a multi-modal class of Artificial Intelligence (AI) systems that integrate visual perception, natural language understanding, and action planning to enable agents to interpret their environment,…

Vision-language-action models (VLAs) have shown potential in leveraging pretrained vision-language models and diverse robot demonstrations for learning generalizable sensorimotor control. While this paradigm effectively utilizes large-scale…

As aerial platforms evolve from passive observers to active manipulators, the challenge shifts toward designing intuitive interfaces that allow non-expert users to command these systems naturally. This work introduces a novel concept of…

This paper introduces an efficient Vision-Language Model (VLM) pipeline specifically optimized for deployment on embedded devices, such as those used in robotics and autonomous driving. The pipeline significantly reduces the computational…

Robotic locomotion is often approached with the goal of maximizing robustness and reactivity by increasing motion control frequency. We challenge this intuitive notion by demonstrating robust and dynamic locomotion with a learned motion…

For 3D object manipulation, methods that build an explicit 3D representation perform better than those relying only on camera images. But using explicit 3D representations like voxels comes at large computing cost, adversely affecting…

Acquiring large-scale, high-fidelity robot demonstration data remains a critical bottleneck for scaling Vision-Language-Action (VLA) models in dexterous manipulation. We propose a Real-Sim-Real data collection and data editing pipeline that…

Vision-Language-Action (VLA) models offer a promising path to generalist robot control, but their inference latency causes observation staleness when generated actions are executed asynchronously. Several methods have been proposed…

Training large models ranging from millions to billions of parameters is highly resource-intensive, requiring significant time, compute, and memory. It is observed that most of the learning (higher change in weights) takes place in the…

Force/torque feedback can substantially improve Vision-Language-Action (VLA) models on contact-rich manipulation, but most existing approaches fuse all modalities at a single operating frequency. This design ignores the mismatched sampling…

Visual Autoregressive (VAR) modeling has gained popularity for its shift towards next-scale prediction. However, existing VAR paradigms process the entire token map at each scale step, leading to the complexity and runtime scaling…

We present GIGA-Lens: a gradient-informed, GPU-accelerated Bayesian framework for modeling strong gravitational lensing systems, implemented in TensorFlow and JAX. The three components, optimization using multi-start gradient descent,…

Diffusion models have recently advanced video restoration, but applying them to real-world video super-resolution (VSR) remains challenging due to high latency, prohibitive computation, and poor generalization to ultra-high resolutions. Our…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

Speculative decoding is a standard method for accelerating the inference speed of large language models. However, scaling it for production environments poses several engineering challenges, including efficiently implementing different…

RAPID-LLM is a unified performance modeling framework for large language model (LLM) training and inference on GPU clusters. It couples a DeepFlow-based frontend that generates hardware-aware, operator-level Chakra execution traces from an…