相关论文: Benchmarking Affordance Generalization with BusyBo…

Vision-Language-Action (VLA) models are promising for generalist robot manipulation but remain brittle in out-of-distribution (OOD) settings, especially with limited real-robot data. To resolve the generalization bottleneck, we introduce a…

Open-world generalization requires robotic systems to have a profound understanding of the physical world and the user command to solve diverse and complex tasks. While the recent advancement in vision-language models (VLMs) has offered…

Interactive articulated manipulation requires long-horizon, multi-step interactions with appliances while maintaining physical consistency. Existing vision-language and diffusion-based policies struggle to generalize across parts,…

Vision-language-action models have advanced robotic manipulation but remain constrained by reliance on the large, teleoperation-collected datasets dominated by the static, tabletop scenes. We propose a simulation-first framework to verify…

Robotic systems are increasingly expected to operate in human-centered, unstructured environments where safety, adaptability, and generalization are essential. Vision-Language-Action (VLA) models have been proposed as a language guided…

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…

We present SAGA, a versatile and adaptive framework for visuomotor control that can generalize across various environments, task objectives, and user specifications. To efficiently learn such capability, our key idea is to disentangle…

In Vision-Language-Actionf(VLA) models, robustness to real-world perturbations is critical for deployment. Existing methods target simple visual disturbances, overlooking the broader multi-modal perturbations that arise in actions,…

Vision-Language-Action (VLA) models have demonstrated remarkable generalization capabilities in robotic manipulation tasks, yet their substantial computational overhead remains a critical obstacle to real-world deployment. Improving…

Vision-language-action (VLA) models provide a promising foundation for general-purpose robotics. However, their successful deployment in real-world scenarios requires the ability to continually acquire new skills while retaining previously…

Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can't large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in…

Affordance grounding refers to the task of finding the area of an object with which one can interact. It is a fundamental but challenging task, as a successful solution requires the comprehensive understanding of a scene in multiple aspects…

Vision-language-action (VLA) models achieve strong in-distribution performance but degrade sharply under novel camera viewpoints and visual perturbations. We show that this brittleness primarily arises from misalignment in Spatial Modeling,…

Vision-Language-Action (VLA) models have recently emerged, demonstrating strong generalization in robotic scene understanding and manipulation. However, when confronted with long-horizon tasks that require defined goal states, such as LEGO…

Vision-Language-Action (VLA) models mark a transformative advancement in artificial intelligence, aiming to unify perception, natural language understanding, and embodied action within a single computational framework. This foundational…

Vision-Language-Action (VLA) models have recently shown strong decision-making capabilities in autonomous driving. However, existing VLAs often struggle with achieving efficient inference and generalizing to novel autonomous vehicle…

Embodied AI is widely recognized as a cornerstone of artificial general intelligence (AGI) because it involves controlling embodied agents to perform tasks in the physical world. Building on the success of large language models (LLMs) and…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Offering great potential in robotic manipulation, a capable Vision-Language-Action (VLA) foundation model is expected to faithfully generalize across tasks and platforms while ensuring cost efficiency (e.g., data and GPU hours required for…

Vision-Language-Action models (VLAs) have recently demonstrated remarkable progress in embodied environments, enabling robots to perceive, reason, and act through unified multimodal understanding. Despite their impressive capabilities, the…