相关论文: LoLA: Long Horizon Latent Action Learning for Gene…

Vision-language-action (VLA) models perform well on training-seen robotic tasks but struggle to generalize to unseen scenes and objects. A key limitation lies in their implicit visual representations, which entangle object appearance,…

Offering great potential in robotic manipulation, a capable Vision-Language-Action (VLA) foundation model is expected to faithfully generalize across tasks and platforms while ensuring cost efficiency (e.g., data and GPU hours required for…

Vision-language models are increasingly employed as multimodal conversational agents (MCAs) for diverse conversational tasks. Recently, reinforcement learning (RL) has been widely explored for adapting MCAs to various human-AI interaction…

While vision-language models have advanced significantly, their application in language-conditioned robotic manipulation is still underexplored, especially for contact-rich tasks that extend beyond visually dominant pick-and-place…

While recent Vision-Language-Action (VLA) models have begun to incorporate audio, they typically treat sound as static pre-execution prompts or focus exclusively on human speech. This leaves a significant gap in real-time, sound-centric…

We introduce OG-VLA, a novel architecture and learning framework that combines the generalization strengths of Vision Language Action models (VLAs) with the robustness of 3D-aware policies. We address the challenge of mapping natural…

Vision-Language-Action (VLA) models have advanced general-purpose robotic manipulation by leveraging pretrained visual and linguistic representations. However, they struggle with contact-rich tasks that require fine-grained control…

Vision-Language-Action (VLA) models rely on current observations, including images, language instructions, and robot states, to predict actions and complete tasks. While accurate visual perception is crucial for precise action prediction…

Large Language Models (LLMs) are gaining popularity in the field of robotics. However, LLM-based robots are limited to simple, repetitive motions due to the poor integration between language models, robots, and the environment. This paper…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for generalist robotic control. Built upon vision-language model (VLM) architectures, VLAs predict actions conditioned on visual observations and language…

Vision-Language-Action (VLA) models advance robotic control via strong visual-linguistic priors. However, existing VLAs predominantly frame pretraining as supervised behavior cloning, overlooking the fundamental nature of robot learning as…

Vision-language models (VLMs) pretrained on large-scale multimodal datasets encode rich visual and linguistic knowledge, making them a strong foundation for robotics. Rather than training robotic policies from scratch, recent approaches…

Robot imitation data are often multimodal: similar visual-language observations may be followed by different action chunks because human demonstrators act with different short-horizon intents, task phases, or recent context. Existing…

The convergence of embodied agents and large language models (LLMs) has brought significant advancements to embodied instruction following. Particularly, the strong reasoning capabilities of LLMs make it possible for robots to perform…

Building on the advancements of Large Language Models (LLMs) and Vision Language Models (VLMs), recent research has introduced Vision-Language-Action (VLA) models as an integrated solution for robotic manipulation tasks. These models take…

Built upon language and vision foundation models with strong generalization ability and trained on large-scale robotic data, Vision-Language-Action (VLA) models have recently emerged as a promising approach to learning generalist robotic…

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…

Executing language-conditioned tasks in dynamic visual environments remains a central challenge in embodied AI. Existing Vision-Language-Action (VLA) models predominantly adopt reactive state-to-action mappings, often leading to…

Reinforcement learning (RL) enables high-frequency, closed-loop control for robotic manipulation, but scaling to long-horizon tasks with sparse or imperfect rewards remains difficult due to inefficient exploration and poor credit…

While Vision-Language-Action (VLA) models have achieved remarkable success in ground-based embodied intelligence, their application to Aerial Manipulation Systems (AMS) remains a largely unexplored frontier. The inherent characteristics of…