相关论文: Task adaptation of Vision-Language-Action model: 1…

Vision-and-Language Navigation (VLN) is unique in that it requires turning relatively general natural-language instructions into robot agent actions, on the basis of the visible environment. This requires to extract value from two very…

Multi-Task Learning is a learning paradigm that uses correlated tasks to improve performance generalization. A common way to learn multiple tasks is through the hard parameter sharing approach, in which a single architecture is used to…

The goal of the YouMakeup VQA Challenge 2020 is to provide a common benchmark for fine-grained action understanding in domain-specific videos e.g. makeup instructional videos. We propose two novel question-answering tasks to evaluate…

A fundamental question in cognitive science and AI concerns whether different learning modalities: language, vision, and action, give rise to distinct or shared internal representations. Traditional views assume that models trained on…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

Vision-Language-Action (VLA) models have demonstrated strong performance across a wide range of robotic manipulation tasks. Despite the success, extending large pretrained Vision-Language Models (VLMs) to the action space can induce…

Vision-Language-Action (VLA) models enable robots to understand and perform complex tasks from multimodal input. Although recent work explores using reinforcement learning (RL) to automate the laborious data collection process in scaling…

Diffusion and flow matching policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions. However, their computationally expensive inference, due to the…

Despite the potential of language model-based agents to solve real-world tasks such as web navigation, current methods still struggle with long-horizon tasks with complex action trajectories. In contrast, humans can flexibly solve complex…

We present Answer-Me, a task-aware multi-task framework which unifies a variety of question answering tasks, such as, visual question answering, visual entailment, visual reasoning. In contrast to previous works using contrastive or…

Modeling interactive driving behaviors in complex scenarios remains a fundamental challenge for autonomous driving planning. Learning-based approaches attempt to address this challenge with advanced generative models, removing the…

Vision-Language-Action (VLA) models have advanced robotic manipulation by combining vision, language, and proprioception to predict actions. However, previous methods fuse proprioceptive signals directly with vision-language features,…

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…

State-of-the-art vision and vision-and-language models rely on large-scale visio-linguistic pretraining for obtaining good performance on a variety of downstream tasks. Generally, such models are often either cross-modal (contrastive) or…

We present relay policy learning, a method for imitation and reinforcement learning that can solve multi-stage, long-horizon robotic tasks. This general and universally-applicable, two-phase approach consists of an imitation learning stage…

We study reward models for long-horizon manipulation tasks by learning from action-free videos and language instructions, which we term the visual-instruction correlation (VIC) problem. Recent advancements in cross-modality modeling have…

We propose a framework that learns to execute natural language instructions in an environment consisting of goal-reaching tasks that share components of their task descriptions. Our approach leverages the compositionality of both value…

Deep Learning has driven recent and exciting progress in computer vision, instilling the belief that these algorithms could solve any visual task. Yet, datasets commonly used to train and test computer vision algorithms have pervasive…

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…

Recent Vision-Language-Action (VLA) models equipped with Flow Matching (FM) action heads achieve state-of-the-art performance in complex robot manipulation. However, the multi-step iterative ODE solving required by FM introduces inference…