相关论文: MAPS: Preserving Vision-Language Representations v…

Vision-language-action (VLA) models are effective as end-to-end motion planners, but can be brittle when evaluated in closed-loop settings due to being trained under traditional imitation learning framework. Existing closed-loop supervision…

Vision-Language-Action models (VLAs) are emerging as powerful tools for learning generalizable visuomotor control policies. However, current VLAs are mostly trained on large-scale image-text-action data and remain limited in two key ways:…

While leveraging abundant human videos and simulated robot data poses a scalable solution to the scarcity of real-world robot data, the generalization capability of existing vision-language-action models (VLAs) remains limited by mismatches…

Latent Action Models (LAMs) enable Vision- Language-Action (VLA) systems to learn semantic action representations from large-scale unannotated data. Yet, we identify two bottlenecks of LAMs: 1) the commonly adopted end-to-end trained image…

Pre-trained on extensive text and image corpora, current Multi-Modal Large Language Models (MLLM) have shown strong capabilities in general visual reasoning tasks. However, their performance is still lacking in physical domains that require…

Pre-trained vision-language models (VLMs) have achieved impressive results in a range of vision-language tasks. However, popular VLMs usually consist of hundreds of millions of parameters which brings challenges for fine-tuning and…

Vision-Language-Action~(VLA) models have shown strong potential for general-purpose robotic manipulation, yet they still struggle to generalize to unseen tasks that necessitate transferring relevant experience across objects, scenes, and…

Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning,…

The pursuit of out-of-distribution generalization in Vision-Language-Action (VLA) models is often hindered by catastrophic forgetting of the Vision-Language Model (VLM) backbone during fine-tuning. While co-training with external reasoning…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for robotic manipulation, in which reliable action prediction critically depends on accurately interpreting and integrating visual observations conditioned on…

Large pre-trained models have proved to be remarkable zero- and (prompt-based) few-shot learners in unimodal vision and language tasks. We propose MAPL, a simple and parameter-efficient method that reuses frozen pre-trained unimodal models…

Large-scale pretraining has made Vision-Language-Action (VLA) models promising foundations for generalist robot manipulation, yet adapting them to downstream tasks remains necessary. However, the common practice of full fine-tuning treats…

Evaluating and Rethinking the current landscape of Large Multimodal Models (LMMs), we observe that widely-used visual-language projection approaches (e.g., Q-former or MLP) focus on the alignment of image-text descriptions yet ignore the…

Vision-Language-Action (VLA) models have emerged as a generalist robotic agent. However, existing VLAs are hindered by excessive parameter scales, prohibitive pre-training requirements, and limited applicability to diverse embodiments. To…

Vision-Language-Action models have demonstrated remarkable capabilities in predicting agent movements within virtual environments and real-world scenarios based on visual observations and textual instructions. Although recent research has…

Autonomous driving has long relied on modular "Perception-Decision-Action" pipelines, where hand-crafted interfaces and rule-based components often break down in complex or long-tailed scenarios. Their cascaded design further propagates…

Large language models (LLMs) have demonstrated that large-scale pretraining enables systems to adapt rapidly to new problems with little supervision in the language domain. This success, however, has not translated as effectively to the…

Vision-Language-Action Models (VLAs) inherit their visual and linguistic capabilities from Vision-Language Models (VLMs), yet most VLAs are built from off-the-shelf VLMs that are not adapted to the embodied domain, limiting their downstream…

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…

Vision Transformers (ViTs) have been widely used in large-scale Vision and Language Pre-training (VLP) models. Though previous VLP works have proved the effectiveness of ViTs, they still suffer from computational efficiency brought by the…