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

Reasoning Vision Language Action (VLA) models improve robotic instruction-following by generating step-by-step textual plans before low-level actions, an approach inspired by Chain-of-Thought (CoT) reasoning in language models. Yet even…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

Vision-Language-Action (VLA) models have demonstrated significant potential in real-world robotic manipulation. However, pre-trained VLA policies still suffer from substantial performance degradation during downstream deployment. Although…

Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…

Lifelong learning is critical for embodied agents in open-world environments, where reinforcement learning fine-tuning has emerged as an important paradigm to enable Vision-Language-Action (VLA) models to master dexterous manipulation…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

Recent vision-language-action models (VLAs) build upon pretrained vision-language models and leverage diverse robot datasets to demonstrate strong task execution, language following ability, and semantic generalization. Despite these…

The long-standing vision of general-purpose robots hinges on their ability to understand and act upon natural language instructions. Vision-Language-Action (VLA) models have made remarkable progress toward this goal, yet their generated…

Vision-Language-Action (VLA) models are a promising path to realizing generalist embodied agents that can quickly adapt to new tasks, modalities, and environments. However, methods for interpreting and steering VLAs fall far short of…

Robots must adapt to diverse human instructions and operate safely in unstructured, open-world environments. Recent Vision-Language models (VLMs) offer strong priors for grounding language and perception, but remain difficult to steer for…

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…

Leveraging pretrained Vision-Language Models (VLMs) to map language instruction and visual observations to raw low-level actions, Vision-Language-Action models (VLAs) hold great promise for achieving general-purpose robotic systems. Despite…

Solving complex real-world control tasks often takes multiple tries: if we fail at first, we reflect on what went wrong, and change our strategy accordingly to avoid making the same mistake. In robotics, Vision-Language-Action models (VLAs)…

Vision-Language-Action (VLA) models have demonstrated strong performance across a wide range of robotic manipulation tasks. Despite the success, extending large pretrained Vision-Language Models (VLMs) to the action space can induce…

Robotic control policies learned from human demonstrations have achieved impressive results in many real-world applications. However, in scenarios where initial performance is not satisfactory, as is often the case in novel open-world…

Vision-Language Action (VLA) models significantly advance robotic manipulation by leveraging the strong perception capabilities of pretrained vision-language models (VLMs). By integrating action modules into these pretrained models, VLA…

Diffusion policies are becoming mainstream in robotic manipulation but suffer from hard negative class imbalance due to uniform sampling and lack of sample difficulty awareness, leading to slow training convergence and frequent inference…

Large language models (LLMs) have demonstrated that large-scale pretraining enables systems to adapt rapidly to new problems with little supervision in the language domain. This success, however, has not translated as effectively to the…

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,…

Language-conditioned robotic manipulation in open-world settings requires not only accurate task execution but also the ability to detect failures for robust deployment in real-world environments. Although recent advances in vision-language…