相关论文: VLS: Steering Pretrained Robot Policies via Vision…

Foundation models have revolutionized robotics by providing rich semantic representations without task-specific training. While many approaches integrate pretrained vision-language models (VLMs) with specialized navigation architectures,…

While autoregressive Large Vision-Language Models (VLMs) have achieved remarkable success, their sequential generation often limits their efficacy in complex visual planning and dynamic robotic control. In this work, we investigate the…

Leveraging temporal context is crucial for success in partially observable robotic tasks. However, prior work in behavior cloning has demonstrated inconsistent performance gains when using multi-frame observations. In this paper, we…

Achieving truly adaptive embodied intelligence requires agents that learn not just by imitating static demonstrations, but by continuously improving through environmental interaction, which is akin to how humans master skills through…

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…

Imitation learning has emerged as an effective approach for bootstrapping sequential decision-making in robotics, achieving strong performance even in high-dimensional dexterous manipulation tasks. Recent behavior cloning methods further…

Vision-Language-Action (VLA) models aim to control robots for manipulation from visual observations and natural-language instructions. However, existing hierarchical and autoregressive paradigms often introduce architectural overhead,…

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…

Solving complex long-horizon robotic manipulation problems requires sophisticated high-level planning capabilities, the ability to reason about the physical world, and reactively choose appropriate motor skills. Vision-language models…

Vision-language-action (VLA) models provide a powerful approach to training control policies for physical systems, such as robots, by combining end-to-end learning with transfer of semantic knowledge from web-scale vision-language model…

Vision--language--action (VLA) policies are trained to imitate actions; their loss never asks them to estimate reward, progress, or future success. Their frozen representations nevertheless carry such information, and it can be read out and…

Recent high-capacity vision-language-action (VLA) models have demonstrated impressive performance on a range of robotic manipulation tasks by imitating human demonstrations. However, exploiting offline data with limited visited states will…

Vision-language-action models (VLAs) have become increasingly popular in robot manipulation for their end-to-end design and remarkable performance. However, existing VLAs rely heavily on vision-language models (VLMs) that only support…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

Vision-Language-Action models (VLAs) have demonstrated remarkable performance in robot control. However, they remain fundamentally limited in tasks that require high precision due to their single-inference paradigm. While test-time scaling…

Vision-Language-Action (VLA) models widely adopt pretrained Vision-Language Models (VLMs) as policy backbones, yet it remains unclear what kind of pretrained VLM representation is useful as a VLA initialization. In this paper, we study VLA…

Vision-language-action (VLA) models have shown strong generalization across tasks and embodiments; however, their reliance on large-scale human demonstrations limits their scalability owing to the cost and effort of manual data collection.…

Reinforcement learning (RL) can refine Vision-Language-Action (VLA) policies beyond behavior cloning, but real-world RL remains expensive due to extensive rollouts, resets, supervision, and safety risks. Action-conditioned video world…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for general-purpose robotic control, with test-time scaling (TTS) gaining attention to enhance robustness beyond training. However, existing TTS methods for VLAs…

Vision-Language-Action (VLA) policies are typically deployed with asynchronous inference: the robot executes a previously predicted action chunk while the model computes the next one. This creates a prediction-execution misalignment: the…