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

Vision-Language-Action (VLA) models have emerged as a powerful framework that unifies perception, language, and control, enabling robots to perform diverse tasks through multimodal understanding. However, current VLA models typically…

Robotic manipulation is a fundamental component of automation. However, traditional perception-planning pipelines often fall short in open-ended tasks due to limited flexibility, while the architecture of a single end-to-end…

Vision-Language Models (VLMs) have emerged as a promising approach to address the data scarcity challenge in robotics, enabling the development of generalizable visuomotor control policies. While models like OpenVLA showcase the potential…

Vision-Language-Action (VLA) models hold great promise for general-purpose robotic intelligence, yet scaling up such models is severely bottlenecked by the high cost of acquiring annotated training data. Fortunately, vision-equipped robots…

The visual-question localized-answering (VQLA) system can serve as a knowledgeable assistant in surgical education. Except for providing text-based answers, the VQLA system can highlight the interested region for better surgical scene…

Teaching robots dexterous skills from human videos remains challenging due to the reliance on low-level trajectory imitation, which fails to generalize across object types, spatial layouts, and manipulator configurations. We propose…

Recent advances in Vision-Language-Action (VLA) models have established a two-component architecture, where a pre-trained Vision-Language Model (VLM) encodes visual observations and task descriptions, and an action decoder maps these…

Achieving truly adaptive embodied intelligence requires agents that learn not just by imitating static demonstrations, but by continuously improving through environmental interaction, which is akin to how humans master skills through…

A novel methodology is presented for reconstructing the Eulerian number density field of dispersed gas-droplet flows modelled using the Fully Lagrangian Approach (FLA). In this work, the nonparametric framework of kernel regression is used…

Advances in robot learning have enabled robots to generate skills for a variety of tasks. Yet, robot learning is typically sample inefficient, struggles to learn from data sources exhibiting varied behaviors, and does not naturally…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for robotic manipulation. However, existing post-training methods face a dilemma between stability and exploration: Supervised Fine-Tuning (SFT) is constrained by…

Imitation learning has emerged as a crucial ap proach for acquiring visuomotor skills from demonstrations, where designing effective observation encoders is essential for policy generalization. However, existing methods often struggle to…

Manipulating dynamic objects remains an open challenge for Vision-Language-Action (VLA) models, which, despite strong generalization in static manipulation, struggle in dynamic scenarios requiring rapid perception, temporal anticipation,…

This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robot to navigate through more challenging and cluttered scenes.…

Vision-Language-Action (VLA) models enable robots to perform manipulation tasks directly from natural language instructions and are increasingly viewed as a foundation for generalist robotic policies. However, their reliability under…

Visual reasoning (VR), which is crucial in many fields for enabling human-like visual understanding, remains highly challenging. Recently, compositional visual reasoning approaches, which leverage the reasoning abilities of large language…

Current language-guided robotic manipulation systems often require low-level action-labeled datasets for imitation learning. While object-centric flow prediction methods mitigate this issue, they remain limited to scenarios involving rigid…

Diffusion alignment aims to optimize diffusion models for the downstream objective. While existing methods based on reinforcement learning or direct backpropagation achieve considerable success in maximizing rewards, they often suffer from…

Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular,…

Reconstructing high-fidelity flow fields from low-fidelity observations is a central problem in scientific machine learning, yet recent diffusion and flow-matching models typically rely on iterative sampling, making them costly for…