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

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

While autoregressive Large Vision-Language Models (VLMs) have achieved remarkable success, their sequential generation often limits their efficacy in complex visual planning and dynamic robotic control. In this work, we investigate the…

Vision-Language-Action (VLA) models have recently enabled embodied agents to perform increasingly complex tasks by jointly reasoning over visual, linguistic, and motor modalities. However, we find that the prevailing notion of…

The development of foundation models for embodied intelligence critically depends on access to large-scale, high-quality robot demonstration data. Recent approaches have sought to address this challenge by training on large collections of…

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 paper, we propose GTA-VLA(Guide, Think, Act), an interactive Vision-Language-Action (VLA) framework that enables spatially steerable embodied reasoning by allowing users to guide robot policies with explicit visual cues. Existing…

Reinforcement learning (RL) has become the pivotal post-training technique for large language model (LLM). Effectively scaling reinforcement learning is now the key to unlocking advanced reasoning capabilities and ensuring safe,…

Diffusion policies are becoming mainstream in robotic manipulation but suffer from hard negative class imbalance due to uniform sampling and lack of sample difficulty awareness, leading to slow training convergence and frequent inference…

Although deep reinforcement learning (DRL) algorithms have made important achievements in many control tasks, they still suffer from the problems of sample inefficiency and unstable training process, which are usually caused by sparse…

Distribution Matching Distillation (DMD) facilitates efficient inference by distilling multi-step diffusion models into few-step variants. Concurrently, Reinforcement Learning (RL) has emerged as a vital tool for aligning generative models…

Vision-Language-Action (VLA) models have demonstrated significant potential for generalist robotic policies; however, they struggle to generalize to long-horizon complex tasks in novel real-world domains due to distribution shifts and the…

Pre-trained vision-language models (VLMs) have shown impressive performance on various downstream tasks by utilizing knowledge learned from large data. In general, the performance of VLMs on target tasks can be further improved by prompt…

Multimodal Large Language Models (MLLMs) have achieved remarkable advances by integrating text, image, and audio understanding within a unified architecture. However, existing distributed training frameworks remain fundamentally data-blind:…

Advances in deep learning have greatly improved structure prediction of molecules. However, many macroscopic observations that are important for real-world applications are not functions of a single molecular structure, but rather…

Flow-matching-based policies have recently emerged as a promising approach for learning-based robot manipulation, offering significant acceleration in action sampling compared to diffusion-based policies. However, conventional flow-matching…

Data heterogeneity hinders clinical deployment of medical image analysis models, and generative data augmentation helps mitigate this issue. However, recent diffusion-based methods that synthesize image-mask pairs often ignore distribution…

Estimating the correspondences between pixels in sequences of images is a critical first step for a myriad of tasks including vision-aided navigation (e.g., visual odometry (VO), visual-inertial odometry (VIO), and visual simultaneous…

In this work we compare different drag-reduction strategies that compute their actuation based on the fluctuations at a given wall-normal location in turbulent open channel flow. In order to perform this study, we implement and describe in…

Vision-Language-Action systems follow instructions to execute multi-step tasks in multimodal environments. Recent VLA approaches typically rely on post-hoc correction mechanisms or operate under fixed task decompositions and alignment…

Vision-Language-Action (VLA) models integrate visual perception, language understanding, and action decision-making for cross-modal semantic alignment, exhibiting broad application potential. However, the joint processing of…