相关论文: STORM: Search-Guided Generative World Models for R…

As embodied agents operate in increasingly complex environments, the ability to perceive, track, and reason about individual object instances over time becomes essential, especially in tasks requiring sequenced interactions with visually…

Developing scalable and generalizable reward engineering for reinforcement learning (RL) is crucial for creating general-purpose agents, especially in the challenging domain of robotic manipulation. While recent advances in reward…

The advancement of large Vision-Language-Action (VLA) models has significantly improved robotic manipulation in terms of language-guided task execution and generalization to unseen scenarios. While existing VLAs adapted from pretrained…

Reasoning Vision Language Action (VLA) models improve robotic instruction-following by generating step-by-step textual plans before low-level actions, an approach inspired by Chain-of-Thought (CoT) reasoning in language models. Yet even…

We introduce specialized diffusion-based generative models that capture the spatiotemporal dynamics of fine-grained robotic surgical sub-stitch actions through supervised learning on annotated laparoscopic surgery footage. The proposed…

Vision-Language-Action (VLA) models are emerging as highly effective planning models for end-to-end autonomous driving systems. However, current works mostly rely on imitation learning from sparse trajectory annotations and under-utilize…

Quantifying the impacts of anthropogenic global warming requires accurate Earth system model (ESM) simulations. Statistical bias correction and downscaling can be applied to reduce errors and increase the resolution of ESMs. However,…

Vision-language models (VLMs) have emerged as powerful tools for enabling automated traffic analysis; however, current approaches often demand substantial computational resources and struggle with fine-grained spatio-temporal understanding.…

Most existing vision-language-action (VLA) models for robotic manipulation lack progress awareness, typically relying on hand-crafted heuristics for task termination. This limitation is particularly severe in long-horizon tasks involving…

Generative policies based on diffusion and flow matching have become a dominant paradigm for visuomotor robotic control. We show that replacing the standard Gaussian source distribution with WarmPrior, a simple temporally grounded prior…

Long-horizon robot manipulation tasks remain challenging for Vision-Language-Action (VLA) policies due to drift and exposure bias, often denoise the entire trajectory with fixed hyperparameters, causing small geometric errors to compound…

Vision-Language Models have excelled at textual reasoning, but they often struggle with fine-grained spatial understanding and continuous action planning, failing to simulate the dynamics required for complex visual reasoning. In this work,…

Integrating visual-language instructions into visuomotor policies is gaining momentum in robot learning for enhancing open-world generalization. Despite promising advances, existing approaches face two challenges: limited language…

Generative models have been widely applied to world modeling for environment simulation and future state prediction. With advancements in autonomous driving, there is a growing demand not only for high-fidelity video generation under…

Object-centric learning aims to represent visual data with a set of object entities (a.k.a. slots), providing structured representations that enable systematic generalization. Leveraging advanced architectures like Transformers, recent…

The integration of Vision-Language-Action (VLA) models with World Models has gained increasing attention. One representative approach treats learned World Models as generative simulators, enabling policy optimization entirely within…

Image generative models have made significant progress in generating realistic and diverse images, supported by comprehensive guidance from various evaluation metrics. However, current video generative models struggle to generate even short…

Vision-Language-Action models (VLAs) achieve strong performance in general robotic manipulation tasks by scaling imitation learning. However, existing VLAs are limited to predicting short-sighted next-action, which struggle with…

Recent years have seen significant advancements in foundation models through generative pre-training, yet algorithmic innovation in this space has largely stagnated around autoregressive models for discrete signals and diffusion models for…

Vision-Language Models (VLMs) have recently shown promising advancements in sequential decision-making tasks through task-specific fine-tuning. However, common fine-tuning methods, such as Supervised Fine-Tuning (SFT) and Reinforcement…