相关论文: Benchmarking Affordance Generalization with BusyBo…

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 works have shown that Large Language Models (LLMs) can be applied to ground natural language to a wide variety of robot skills. However, in practice, learning multi-task, language-conditioned robotic skills typically requires…

Affordance understanding, the task of identifying actionable regions on 3D objects, plays a vital role in allowing robotic systems to engage with and operate within the physical world. Although Visual Language Models (VLMs) have excelled in…

Vision-Language-Action (VLA) models have demonstrated remarkable capabilities in robotic manipulation,enabling robots to execute natural language commands through end-to-end learning from visual observations.However, deploying large-scale…

Vision Language Action (VLA) models represent a transformative shift in robotics, with the aim of unifying visual perception, natural language understanding, and embodied control within a single learning framework. This review presents a…

Vision-Language-Action (VLA) models are driving a revolution in robotics, enabling machines to understand instructions and interact with the physical world. This field is exploding with new models and datasets, making it both exciting and…

Vision-Language-Action (VLA) models map multimodal inputs directly to robot actions and are typically trained through large-scale imitation learning. While this paradigm has shown strong performance, prevailing VLA training procedures do…

Recent Vision-Language-Action (VLA) models have made impressive progress toward general-purpose robotic manipulation by post-training large Vision-Language Models (VLMs) for action prediction. Yet most VLAs entangle perception and control…

The pursuit of out-of-distribution generalization in Vision-Language-Action (VLA) models is often hindered by catastrophic forgetting of the Vision-Language Model (VLM) backbone during fine-tuning. While co-training with external reasoning…

Mobile manipulation is the fundamental challenge for robotics to assist humans with diverse tasks and environments in everyday life. However, conventional mobile manipulation approaches often struggle to generalize across different tasks…

General-purposed embodied agents are designed to understand the users' natural instructions or intentions and act precisely to complete universal tasks. Recently, methods based on foundation models especially Vision-Language-Action models…

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…

General-purpose robots must master long-horizon manipulation, defined as tasks involving multiple kinematic structure changes (e.g., attaching or detaching objects) in unstructured environments. While Vision-Language-Action (VLA) models…

Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…

While vision-language models (VLMs) have demonstrated promising capabilities in reasoning and planning for embodied agents, their ability to comprehend physical phenomena, particularly within structured 3D environments, remains severely…

Vision-Language-Action (VLA) models are dominant in embodied intelligence but are constrained by inference overheads. While model quantization alleviates these bottlenecks for edge deployment, static quantization approaches remain…

Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

Built upon language and vision foundation models with strong generalization ability and trained on large-scale robotic data, Vision-Language-Action (VLA) models have recently emerged as a promising approach to learning generalist robotic…

Affordance theory suggests that environments inherently provide action possibilities shaping perception and behavior. While Multimodal Large Language Models (MLLMs) achieve strong performance in vision-language tasks, their ability to…