相关论文: Running VLAs at Real-time Speed

Vision-Language-Action (VLA) models are dominant in embodied intelligence but are constrained by inference overheads. While model quantization alleviates these bottlenecks for edge deployment, static quantization approaches remain…

Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based…

Vision-Language-Action (VLA) policies are commonly trained from dense robot demonstration trajectories, often collected through teleoperation, by sampling every recorded frame as if it provided equally useful supervision. We argue that this…

Vision-language-action (VLA) models represent a promising direction for developing general-purpose robotic systems, demonstrating the ability to combine visual understanding, language comprehension, and action generation. However,…

Deploying Vision-Language-Action (VLA) models on resource-constrained edge platforms encounters a fundamental conflict between high-latency semantic inference and the high-frequency control required for dynamic manipulation. To address the…

Real-time high-accuracy optical flow estimation is critical for a variety of real-world robotic applications. However, current learning-based methods often struggle to balance accuracy and computational efficiency: methods that achieve high…

Recent advances in Vision-Language-Action models (VLAs) have expanded the capabilities of embodied intelligence. However, significant challenges remain in real-time decision-making in complex 3D environments, which demand second-level…

Visibility Graph Analysis (VGA) is a key space syntax method for understanding how spatial configuration shapes human movement, but its reliance on all-pairs BFS computation limits practical application to small study areas. We present a…

Vision-language models (VLMs) pretrained on large-scale multimodal datasets encode rich visual and linguistic knowledge, making them a strong foundation for robotics. Rather than training robotic policies from scratch, recent approaches…

The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…

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…

In this work we propose an accelerated stochastic learning system for very large-scale applications. Acceleration is achieved by mapping the training algorithm onto massively parallel processors: we demonstrate a parallel, asynchronous GPU…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for generalist robotic control. Built upon vision-language model (VLM) architectures, VLAs predict actions conditioned on visual observations and language…

Recent vision-language-action models (VLAs) build upon pretrained vision-language models and leverage diverse robot datasets to demonstrate strong task execution, language following ability, and semantic generalization. Despite these…

The computation of time-optimal velocity profiles along prescribed paths, subject to generic acceleration constraints, is a crucial problem in robot trajectory planning, with particular relevance to autonomous racing. However, the existing…

Simulation frameworks such as Isaac Sim have enabled scalable robot learning for locomotion and rigid-body manipulation; however, contact-rich simulation remains a major bottleneck for deformable object manipulation. The continuously…

In order for robots to be useful, they must perform practically relevant tasks in the real world, outside of the lab. While vision-language-action (VLA) models have demonstrated impressive results for end-to-end robot control, it remains an…

Vision-language-action (VLA) models enable impressive zero shot manipulation, but their inference stacks are often too heavy for responsive web demos or high frequency robot control on commodity GPUs. We present BLURR, a lightweight…

While large vision-language-action (VLA) models and generative world models (WM) have advanced long-horizon embodied intelligence, their practical deployment remains challenged by uncertainty in learning-based action generation. Low-quality…

Deploying LLMs efficiently requires testing hundreds of serving configurations, but evaluating each one on a GPU cluster takes hours and costs thousands of dollars. Discrete-event simulators are faster and cheaper, but they require…