相关论文: DiG-Flow: Discrepancy-Guided Flow Matching for Rob…

The growing success of Vision-Language-Action (VLA) models stems from the promise that pretrained Vision-Language Models (VLMs) can endow agents with transferable world knowledge and vision-language (VL) grounding, laying a foundation for…

Flow-matching models have enabled high-quality text-to-speech synthesis, but their iterative sampling process during inference incurs substantial computational cost. Although distillation is widely used to reduce the number of inference…

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 long-standing vision of general-purpose robots hinges on their ability to understand and act upon natural language instructions. Vision-Language-Action (VLA) models have made remarkable progress toward this goal, yet their generated…

Among these, D-peptides are resistant to proteolysis, exhibit greater in vivo stability, and are easier to synthesize. Despite advances in deep learning for peptide discovery, the scarcity of natural D-protein data limits the transfer of…

Vision-Language-Action models (VLAs) have demonstrated remarkable performance in robot control. However, they remain fundamentally limited in tasks that require high precision due to their single-inference paradigm. While test-time scaling…

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…

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

Foundation models applied in robotics, particularly \textbf{Vision--Language--Action (VLA)} models, hold great promise for achieving general-purpose manipulation. Yet, systematic real-world evaluations and cross-model comparisons remain…

Vision-Language-Action (VLA) models, particularly diffusion-based architectures, demonstrate transformative potential for embodied intelligence but are severely hampered by high computational and memory demands stemming from extensive…

In this paper, a deep reinforcement learning (DRL) method is proposed to address the problem of UAV navigation in an unknown environment. However, DRL algorithms are limited by the data efficiency problem as they typically require a huge…

To build a generalizable Vision-Language-Action (VLA) model with strong reasoning ability, a common strategy is to first train a specialist VLA on robot demonstrations to acquire reliable manipulation skills, and then incorporate mixed…

Robotic manipulation with Vision-Language-Action models requires efficient inference over long-horizon multi-modal context, where attention to dense visual tokens dominates computational cost. Existing methods optimize inference speed by…

Vision-language-action (VLA) models have shown strong generalization across tasks and embodiments; however, their reliance on large-scale human demonstrations limits their scalability owing to the cost and effort of manual data collection.…

Traditional discriminative computer vision relies predominantly on static projections, mapping input features to outputs in a single computational step. Although efficient, this paradigm lacks the iterative refinement and robustness…

Vision-language-action (VLA) models show potential for general robotic tasks, but remain challenging in spatiotemporally coherent manipulation, which requires fine-grained representations. Typically, existing methods embed 3D positions into…

Vision-Language-Action (VLA) models have demonstrated remarkable performance on complex tasks through imitation learning in recent robotic manipulation works. Based on large-scale and high-quality demonstration datasets, existing imitation…

The performance of robotic imitation learning is fundamentally limited by data quality and training strategies. Prevalent sampling strategies on RLBench suffer from severe keyframe redundancy and imbalanced temporal distribution, leading to…

Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…

We introduce a reinforcement learning (RL) environment to design and benchmark control strategies aimed at reducing drag in turbulent fluid flows enclosed in a channel. The environment provides a framework for computationally-efficient,…