相关论文: Atomic Action Slicing: Planner-Aligned Options for…

Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…

World Models (WMs) have emerged as a promising approach for post-training Vision-Language-Action (VLA) policies to improve robustness and generalization under environmental changes. However, most WM-based post-training methods rely on…

Vision-Language-Action (VLA) models excel in static manipulation but struggle in dynamic environments with moving targets. This performance gap primarily stems from a scarcity of dynamic manipulation datasets and the reliance of mainstream…

In this paper, we introduce an innovative vector quantization based action tokenizer built upon the largest-scale action trajectory dataset to date, leveraging over 100 times more data than previous approaches. This extensive dataset…

Long-horizon robotic manipulation requires bridging the gap between high-level planning (System 2) and low-level control (System 1). Current Vision-Language-Action (VLA) models often entangle these processes, performing redundant multimodal…

Vision Language Models (VLMs) excel at visual question answering (VQA) but remain limited to snapshot vision, reasoning from static images. In contrast, embodied agents require ambulatory vision, actively moving to obtain more informative…

Generalist Vision-Language-Action models are currently hindered by the scarcity of robotic data compared to the abundance of human video demonstrations. Existing Latent Action Models attempt to leverage video data but often suffer from…

Vision-Language-Action (VLA) models have shown promising capabilities for embodied intelligence, but most existing approaches rely on text-based chain-of-thought reasoning where visual inputs are treated as static context. This limits the…

Few-shot action recognition (FSAR) aims to classify human actions in videos with only a small number of labeled samples per category. The scarcity of training data has driven recent efforts to incorporate additional modalities, particularly…

Robotic manipulation requires reasoning about future spatial-temporal interactions and geometric constraints, yet existing Vision-Language-Action (VLA) policies often leave predictive representation weakly coupled with action execution,…

Vision-Language-Action (VLA) models have demonstrated remarkable generalization capabilities in robotic manipulation tasks, yet their substantial computational overhead remains a critical obstacle to real-world deployment. Improving…

Vision-Language-Action (VLA) models achieve over 95% success on standard benchmarks. However, through systematic experiments, we find that current state-of-the-art VLA models largely ignore language instructions. Prior work lacks: (1)…

The generalization capabilities of vision-language-action (VLA) models to unseen tasks are crucial to achieving general-purpose robotic manipulation in open-world settings. However, the cross-task generalization capabilities of existing VLA…

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is that the models exhibit…

Vision-Language-Action (VLA) models have emerged as a generalist robotic agent. However, existing VLAs are hindered by excessive parameter scales, prohibitive pre-training requirements, and limited applicability to diverse embodiments. To…

Long-horizon robotic manipulation poses significant challenges for autonomous systems, requiring extended reasoning, precise execution, and robust error recovery across complex sequential tasks. Current approaches, whether based on static…

Task planning for robotic manipulation with large language models (LLMs) is an emerging area. Prior approaches rely on specialized models, fine tuning, or prompt tuning, and often operate in an open loop manner without robust environmental…

Medical image segmentation traditionally relies on fully supervised 3D architectures that demand a large amount of dense, voxel-level annotations from clinical experts which is a prohibitively expensive process. Vision Language Models…

We consider the challenging problem of zero-shot video object segmentation (VOS). That is, segmenting and tracking multiple moving objects within a video fully automatically, without any manual initialization. We treat this as a grouping…

Large Language Models (LLMs) have shown promise as robotic planners but often struggle with long-horizon and complex tasks, especially in specialized environments requiring external knowledge. While hierarchical planning and…