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

Vision-Language-Action (VLA) models have emerged as promising solutions for robotic manipulation, yet their robustness to real-world physical variations remains critically underexplored. To bridge this gap, we propose Eva-VLA, the first…

Achieving robot transparency is a critical step toward effective human-robot collaboration. To be transparent, a robot's natural language communication must be consistent with its actions and explicitly grounded in the task and environment.…

Vision-Language-Action (VLA) models have recently achieved remarkable progress in robotic perception and control, yet most existing approaches primarily rely on VLM trained using 2D images, which limits their spatial understanding and…

Vision-language-action (VLA) models are emerging as embodied foundation models for robotic manipulation, but their deployment introduces a new unlearning challenge: removing unsafe, spurious, or privacy-sensitive behaviors without degrading…

In embodied AI, visual perception should be active rather than passive: the system must decide where to look and at what scale to sense to acquire maximally informative data under pixel and spatial budget constraints. Existing vision models…

Pre-trained vision-language models (VLMs) exhibit strong zero-shot generalization but remain vulnerable to adversarial perturbations. Existing classification-guided adversarial fine-tuning methods often disrupt pre-trained cross-modal…

In recent human-robot collaboration environments, there is a growing focus on integrating diverse sensor data beyond visual information to enable safer and more intelligent task execution. Although thermal data can be crucial for enhancing…

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)…

Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…

Vision-based perception modules are increasingly deployed in many applications, especially autonomous vehicles and intelligent robots. These modules are being used to acquire information about the surroundings and identify obstacles. Hence,…

Vision-language-action (VLA) models have shown strong potential for generalist robot manipulation, yet they remain limited by insufficient spatial reasoning, particularly in determining where to interact in complex visual scenes. While…

We propose Avi, a novel 3D Vision-Language-Action (VLA) architecture that reframes robotic action generation as a problem of 3D perception and spatial reasoning, rather than low-level policy learning. While existing VLA models primarily…

Vision-Language-Action (VLA) models have shown great performance in robotic manipulation by mapping visual observations and language instructions directly to actions. However, they remain brittle under distribution shifts: when test…

Vision-language-action (VLA) models achieve strong in-distribution performance but degrade sharply under novel camera viewpoints and visual perturbations. We show that this brittleness primarily arises from misalignment in Spatial Modeling,…

The emergence of vision-language-action models (VLAs) for end-to-end control is reshaping the field of robotics by enabling the fusion of multimodal sensory inputs at the billion-parameter scale. The capabilities of VLAs stem primarily from…

Visual-Language-Action (VLA) models represent a paradigm shift in embodied AI, yet existing frameworks often struggle with imprecise spatial perception, suboptimal multimodal fusion, and instability in reinforcement learning. To bridge…

We present ProgVLA, a compact vision-language-action (VLA) model designed for reliable robot manipulation under tight compute and memory budgets. The model specifically focuses on efficiently processing long multi-modal sequences by…

The rapid progress of auto-regressive vision-language models (VLMs) has inspired growing interest in vision-language-action models (VLA) for robotic manipulation. Recently, masked diffusion models, a paradigm distinct from autoregressive…

Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…

Vision-Language-Action (VLA) models have demonstrated significant advantages in robotic manipulation. However, their reliance on vision and language often leads to suboptimal performance in tasks involving visual occlusion, fine-grained…