相关论文: Explainable Adversarial-Robust Vision-Language-Act…

Recent progress in vision language foundation models has shown their ability to understand multimodal data and resolve complicated vision language tasks, including robotics manipulation. We seek a straightforward way of making use of…

Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation. However, previous approaches predominantly rely on the general comprehension capabilities of vision-language…

Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…

Large Vision-Language Models (LVLMs) exhibit strong multimodal capabilities but remain vulnerable to hallucinations from intrinsic errors and adversarial attacks from external exploitations, limiting their reliability in real-world…

Visual Language Models (VLMs) are vulnerable to adversarial attacks, especially those from adversarial images, which is however under-explored in literature. To facilitate research on this critical safety problem, we first construct a new…

Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into robotic actions. Despite their recent advancements,…

In Vision-Language-Actionf(VLA) models, robustness to real-world perturbations is critical for deployment. Existing methods target simple visual disturbances, overlooking the broader multi-modal perturbations that arise in actions,…

Vision-Language-Action (VLA) models have emerged as a promising framework that unifies perception, reasoning, and control for robot manipulation by adapting pretrained vision-language models (VLMs) to action prediction. However, VLM-derived…

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,…

Vision-Language-Action (VLA) models have recently become highly prominent in the field of robotics. Leveraging vision-language foundation models trained on large-scale internet data, the VLA model can generate robotic actions directly from…

Vision-Language-Action (VLA) models trained on large robot datasets promise general-purpose, robust control across diverse domains and embodiments. However, existing approaches often fail out-of-the-box when deployed in novel environments,…

Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can't large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in…

Embodied intelligence systems, which enhance agent capabilities through continuous environment interactions, have garnered significant attention from both academia and industry. Vision-Language-Action models, inspired by advancements in…

Vision-Language Models (VLMs) play a crucial role in the advancement of Artificial General Intelligence (AGI). As AGI rapidly evolves, addressing security concerns has emerged as one of the most significant challenges for VLMs. In this…

Vision-Language Action (VLA) models significantly advance robotic manipulation by leveraging the strong perception capabilities of pretrained vision-language models (VLMs). By integrating action modules into these pretrained models, VLA…

Despite their impressive capabilities, Multimodal Large Language Models (MLLMs) exhibit perceptual fragility when confronted with visually complex scenes. This weakness stems from a reliance on finite training datasets, which are…

Robotic Vision-Language-Action (VLA) models generalize well for open-ended manipulation, but their perception is fragile under sensing-stage degradations such as extreme low light, motion blur, and black clipping. We present E-VLA, an…

Latent Action Models (LAMs) have emerged as an effective paradigm for handling heterogeneous datasets during Vision-Language-Action (VLA) model pretraining, offering a unified action space across embodiments. However, existing LAMs often…

Defending pre-trained vision-language models (VLMs), such as CLIP, against adversarial attacks is crucial, as these models are widely used in diverse zero-shot tasks, including image classification. However, existing adversarial training…

Visual language grounding is widely studied in modern neural image captioning systems, which typically adopts an encoder-decoder framework consisting of two principal components: a convolutional neural network (CNN) for image feature…