相关论文: Shallow-{\pi}: Knowledge Distillation for Flow-bas…

Vision-Language-Action (VLA) models have shown promising capabilities for embodied intelligence, but most existing approaches rely on text-based chain-of-thought reasoning where visual inputs are treated as static context. This limits the…

Vision-Language-Action (VLA) models integrate visual perception, language understanding, and action decision-making for cross-modal semantic alignment, exhibiting broad application potential. However, the joint processing of…

This work explores knowledge distillation (KD) for visually-rich document (VRD) applications such as document layout analysis (DLA) and document image classification (DIC). While VRD research is dependent on increasingly sophisticated and…

Flow-based vision-language-action (VLA) models excel in embodied control but suffer from intractable likelihoods during multi-step sampling, hindering online reinforcement learning. We propose \textbf{\textit{$\boldsymbol{\pi}$-StepNFT}}…

Vision-Language-Action (VLA) models benefit from chain-of-thought (CoT) reasoning, but existing approaches incur high inference overhead and rely on discrete reasoning representations that mismatch continuous perception and control. We…

The prevailing approach to distilling reasoning from Large Language Models (LLMs)-behavioral cloning from textual rationales-is fundamentally limited. It teaches Small Language Models (SLMs) to mimic surface-level patterns rather than the…

This article addresses the problem of distilling knowledge from a large teacher model to a slim student network for LiDAR semantic segmentation. Directly employing previous distillation approaches yields inferior results due to the…

Vision-Language-Action models (VLA) have demonstrated remarkable capabilities and promising potential in solving complex robotic manipulation tasks. However, their substantial parameter sizes and high inference latency pose significant…

Vision-language pre-training (VLP) has recently proven highly effective for various uni- and multi-modal downstream applications. However, most existing end-to-end VLP methods use high-resolution image-text box data to perform well on…

Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…

The recent surge in Multimodal Large Language Models (MLLMs) has showcased their remarkable potential for achieving generalized intelligence by integrating visual understanding into Large Language Models.Nevertheless, the sheer model size…

Recent advances in FlowMatching-based Vision-Language-Action (VLA) frameworks have demonstrated remarkable advantages in generating high-frequency action chunks, particularly for highly dexterous robotic manipulation tasks. Despite these…

In this paper, we present DiffusionVLA, a novel framework that seamlessly combines the autoregression model with the diffusion model for learning visuomotor policy. Central to our approach is a next-token prediction objective, enabling the…

Distilling the thinking traces of a Large Language Model (LLM) with reasoning capabilities into a smaller model has been proven effective. Yet, there is a scarcity of work done on how model performances scale with the quantity of…

Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA systems often lose key capabilities…

Many real-world applications such as robotics provide hard constraints on power and compute that limit the viable model complexity of Reinforcement Learning (RL) agents. Similarly, in many distributed RL settings, acting is done on…

While end-to-end Vision-Language-Action (VLA) models offer a promising paradigm for robotic manipulation, fine-tuning them on narrow control data often compromises the profound reasoning capabilities inherited from their base…

Vision-Language-Action (VLA) models have shown great potential for embodied AI by integrating visual perception, language understanding, and action execution. In real-time deployment, these models must process continuous visual streams,…

Vision-Language-Action (VLA) models leverage pretrained vision-language models (VLMs) to couple perception with robotic control, offering a promising path toward general-purpose embodied intelligence. However, current SOTA VLAs are…

Vision-Language-Action (VLA) models adapt large vision-language backbones to map images and instructions into robot actions. However, prevailing VLAs either generate actions auto-regressively in a fixed left-to-right order or attach…