相关论文: GLaD: Geometric Latent Distillation for Vision-Lan…

3D vision-language grounding faces a fundamental data bottleneck: while 2D models train on billions of images, 3D models have access to only thousands of labeled scenes--a six-order-of-magnitude gap that severely limits performance. We…

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…

Knowledge distillation from LLMs is essential for the efficient deployment of language models. Prior works have proposed data generation using LLMs for preparing distilled models. We argue that generating data with LLMs is prone to sampling…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

A fundamental objective of manipulation policy design is to endow robots to comprehend human instructions, reason about scene cues, and execute generalized actions in dynamic environments. Recent autoregressive vision-language-action (VLA)…

Although pre-trained Vision-Language-Action (VLA) models exhibit impressive generalization in robotic manipulation, post-training remains crucial to ensure reliable performance during deployment. However, standard offline Supervised…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for end-to-end autonomous driving, yet their reliance on implicit parametric knowledge limits generalization in long-tail scenarios. While Retrieval-Augmented…

Recently, linear complexity sequence modeling networks have achieved modeling capabilities similar to Vision Transformers on a variety of computer vision tasks, while using fewer FLOPs and less memory. However, their advantage in terms of…

Recently, leveraging pre-trained vision-language models (VLMs) for building vision-language-action (VLA) models has emerged as a promising approach to effective robot manipulation learning. However, only few methods incorporate 3D signals…

Existing approaches to vision-language pre-training (VLP) heavily rely on an object detector based on bounding boxes (regions), where salient objects are first detected from images and then a Transformer-based model is used for cross-modal…

Knowledge distillation (KD) is an effective framework to transfer knowledge from a large-scale teacher to a compact yet well-performing student. Previous KD practices for pre-trained language models mainly transfer knowledge by aligning…

Previous research has investigated the application of Multimodal Large Language Models (MLLMs) in understanding 3D scenes by interpreting them as videos. These approaches generally depend on comprehensive 3D data inputs, such as point…

This paper studies the problem of pre-training for small models, which is essential for many mobile devices. Current state-of-the-art methods on this problem transfer the representational knowledge of a large network (as a Teacher) into a…

Modern Vision-Language Models (VLMs) achieve strong semantic recognition, yet remain brittle on elementary spatial relations such as left of, on, behind, and between. One cause of this failure arises before language reasoning begins: the…

While Multimodal Large Language Models demonstrate impressive semantic capabilities, they often suffer from spatial blindness, struggling with fine-grained geometric reasoning and physical dynamics. Existing solutions typically rely on…

Autoregressive vision-language models (VLMs) deliver strong multimodal capability, but their token-by-token decoding imposes a fundamental inference bottleneck. Diffusion VLMs offer a more parallel decoding paradigm, yet directly converting…

Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integrate semantic understanding with visual perception to…

Vision-Language-Action (VLA) models have achieved remarkable progress in robotic manipulation by mapping multimodal observations and instructions directly to actions. However, they typically mimic expert trajectories without predictive…

Vision-Language Models (VLMs) have shown remarkable capabilities in joint vision-language understanding, but their large scale poses significant challenges for deployment in resource-constrained scenarios. Knowledge Distillation (KD) offers…

Vision-Language Action (VLA) models unify perception, reasoning, and trajectory generation for autonomous driving, but suffer from significant inference latency due to deep transformer stacks. We present DeeAD, a training-free,…