相关论文: CulinaryCut-VLAP: A Vision-Language-Action-Physics…

Manipulating dynamic objects remains an open challenge for Vision-Language-Action (VLA) models, which, despite strong generalization in static manipulation, struggle in dynamic scenarios requiring rapid perception, temporal anticipation,…

To enhance the perception and reasoning capabilities of multimodal large language models in complex visual scenes, recent research has introduced agent-based workflows. In these works, MLLMs autonomously utilize image cropping tool to…

Vision-Language-Action (VLA) models offer a promising paradigm for generalist robotic policies, yet their adaptation is hindered by data inefficiency and poor generalization. We argue that these bottlenecks stem from the prevailing Direct…

Image and language modeling is of crucial importance for vision-language pre-training (VLP), which aims to learn multi-modal representations from large-scale paired image-text data. However, we observe that most existing VLP methods focus…

A key challenge in robotic food manipulation is modeling the material properties of diverse and deformable food items. We propose using a multimodal sensory approach to interact and play with food that facilitates the ability to distinguish…

Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video…

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…

Medical vision-and-language pre-training (Med-VLP) has received considerable attention owing to its applicability to extracting generic vision-and-language representations from medical images and texts. Most existing methods mainly contain…

Vision-language models like CLIP excel at recognizing the single, prominent object in a scene. However, they struggle in complex scenes containing multiple objects. We identify a fundamental reason for this limitation: VLM feature space…

Learning real-world robotic manipulation is challenging, particularly when limited demonstrations are available. Existing methods for few-shot manipulation often rely on simulation-augmented data or pre-built modules like grasping and pose…

The obesity phenomenon, known as the heavy issue, is a leading cause of preventable chronic diseases worldwide. Traditional calorie estimation tools often rely on specific data formats or complex pipelines, limiting their practicality in…

Visual Language Models (VLMs) have emerged as pivotal tools for robotic systems, enabling cross-task generalization, dynamic environmental interaction, and long-horizon planning through multimodal perception and semantic reasoning. However,…

Vision-language-action (VLA) models provide a promising foundation for general-purpose robotics. However, their successful deployment in real-world scenarios requires the ability to continually acquire new skills while retaining previously…

Vision-language-action (VLA) models have significantly advanced robotic manipulation by integrating vision-language models (VLMs), and action decoders into a unified architecture. However, their deployment on resource-constrained edge…

Vision-language-action (VLA) models have recently shown strong potential in enabling robots to follow language instructions and execute precise actions. However, most VLAs are built upon vision-language models pretrained solely on 2D data,…

In the realm of food computing, segmenting ingredients from images poses substantial challenges due to the large intra-class variance among the same ingredients, the emergence of new ingredients, and the high annotation costs associated…

We present vMAP, an object-level dense SLAM system using neural field representations. Each object is represented by a small MLP, enabling efficient, watertight object modelling without the need for 3D priors. As an RGB-D camera browses a…

Force sensing is a crucial modality for Vision-Language-Action (VLA) frameworks, as it enables fine-grained perception and dexterous manipulation in contact-rich tasks. We present Force-Distilled VLA (FD-VLA), a novel framework that…

Vision-Language-Action (VLA) models typically bridge the gap between perceptual and action spaces by pre-training a large-scale Vision-Language Model (VLM) on robotic data. While this approach greatly enhances performance, it also incurs…

Vision-Language-Action (VLA) models have shown remarkable success in robotic tasks like manipulation by fusing a language model's reasoning with a vision model's 3D understanding. However, their high computational cost remains a major…