相关论文: DroneVLA: VLA based Aerial Manipulation

Unmanned Aerial Vehicles, operating in environments with relatively few obstacles, offer high maneuverability and full three-dimensional mobility. This allows them to rapidly approach objects and perform a wide range of tasks often…

Enabling robots to perform diverse tasks across varied environments is a central challenge in robot learning. While vision-language-action (VLA) models have shown promise for generalizable robot skills, realizing their full potential…

We adapt a pre-trained Vision-Language-Action (VLA) model (Open-VLA) for dexterous human-robot collaboration with minimal language prompting. Our approach adds (i) FiLM conditioning to visual backbones for task-aware perception, (ii) an…

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…

In this work, we introduce HoloBrain-0, a comprehensive Vision-Language-Action (VLA) framework that bridges the gap between foundation model research and reliable real-world robot deployment. The core of our system is a novel VLA…

A fundamental objective in robot manipulation is to enable models to comprehend visual scenes and execute actions. Although existing Vision-Language-Action (VLA) models for robots can handle a range of basic tasks, they still face…

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…

Artificial intelligence-powered pocket-sized air robots have the potential to revolutionize the Internet-of-Things ecosystem, acting as autonomous, unobtrusive, and ubiquitous smart sensors. With a few cm$^{2}$ form-factor, nano-sized…

This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…

Large vision-language models (VLMs) excel at multimodal understanding but fall short when extended to embodied tasks, where instructions must be transformed into low-level motor actions. We introduce ST4VLA, a dual-system…

Drones operating in human-occupied spaces suffer from insufficient communication mechanisms that create uncertainty about their intentions. We present HoverAI, an embodied aerial agent that integrates drone mobility,…

We investigate the Vision-and-Language Navigation (VLN) problem in the context of autonomous driving in outdoor settings. We solve the problem by explicitly grounding the navigable regions corresponding to the textual command. At each…

Recent vision-language-action (VLA) models rely on 2D inputs, lacking integration with the broader realm of the 3D physical world. Furthermore, they perform action prediction by learning a direct mapping from perception to action,…

Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…

Language-driven object navigation requires agents to interpret natural language descriptions of target objects, which combine intrinsic and extrinsic attributes for instance recognition and commonsense navigation. Existing methods either…

Robotic manipulation with Vision-Language-Action models requires efficient inference over long-horizon multi-modal context, where attention to dense visual tokens dominates computational cost. Existing methods optimize inference speed by…

While imitation learning for vision based autonomous mobile robot navigation has recently received a great deal of attention in the research community, existing approaches typically require state action demonstrations that were gathered…

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…

Current vision-language-action (VLA) models, pre-trained on large-scale robotic data, exhibit strong multi-task capabilities and generalize well to variations in visual and language instructions for manipulation. However, their success rate…

With the continual adoption of Uncrewed Aerial Vehicles (UAVs) across a wide-variety of application spaces, robust aerial manipulation remains a key research challenge. Aerial manipulation tasks require interacting with objects in the…