相关论文: ABot-M0: VLA Foundation Model for Robotic Manipula…

Generalization in embodied AI is hindered by the "seeing-to-doing gap," which stems from data scarcity and embodiment heterogeneity. To address this, we pioneer "pointing" as a unified, embodiment-agnostic intermediate representation,…

Vision-Language-Action (VLA) models offer a promising paradigm for generalist robotic policies, yet their adaptation is hindered by data inefficiency and poor generalization. We argue that these bottlenecks stem from the prevailing Direct…

Agent-based modeling (ABM) is a well-established paradigm for simulating complex systems via interactions between constituent entities. Machine learning (ML) refers to approaches whereby statistical algorithms 'learn' from data on their…

Traditional reinforcement learning-based robotic control methods are often task-specific and fail to generalize across diverse environments or unseen objects and instructions. Visual Language Models (VLMs) demonstrate strong scene…

Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like…

Foundation models have made significant strides in various applications, including text-to-image generation, panoptic segmentation, and natural language processing. This paper presents Instruct2Act, a framework that utilizes Large Language…

Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation arises from training VLMs on static internet-scale…

Vision-language-action (VLA) models remain constrained by the scarcity of action-labeled robot data, whereas action-free videos provide abundant evidence of how the physical world changes. Latent action models offer a promising way to…

While Vision-Language-Action (VLA) models show strong promise for generalist robot control, it remains unclear whether -- and under what conditions -- the standard "scale data" recipe translates to robotics, where training data is…

Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation. However, previous approaches predominantly rely on the general comprehension capabilities of vision-language…

Vision-Language-Action models (VLAs) represent a significant frontier in embodied intelligence, aiming to bridge digital knowledge with physical-world interaction. Despite their remarkable performance, foundational VLAs are hindered by the…

Vision-language-action (VLA) models have shown strong generalization for robotic action prediction through large-scale vision-language pretraining. However, most existing models rely solely on RGB cameras, limiting their perception and,…

Vision-Language-Action (VLA) models often suffer from performance degradation under distribution shifts, as they struggle to learn generalized behavior representations across varying environments. While existing approaches attempt to…

To operate effectively in the real world, robots should integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to…

Scaling humanoid foundation models is bottlenecked by the scarcity of robotic data. While massive egocentric human data offers a scalable alternative, bridging the cross-embodiment chasm remains a fundamental challenge due to kinematic…

While foundation models show remarkable progress in language and vision, existing vision-language models (VLMs) still have limited spatial and embodiment understanding. Transferring VLMs to embodied domains reveals fundamental mismatches…

We present Action Agent, a two-stage framework that unifies agentic navigation video generation with flow-constrained diffusion control for multi-embodiment robot navigation. In Stage I, a large language model (LLM) acts as an orchestration…

Building autonomous robotic agents capable of achieving human-level performance in real-world embodied tasks is an ultimate goal in humanoid robot research. Recent advances have made significant progress in high-level cognition with…

Recent progress in large-scale robotic datasets and vision-language models (VLMs) has advanced research on vision-language-action (VLA) models. However, existing VLA models still face two fundamental challenges: (i) producing precise…

Recent robot foundation models largely rely on large-scale behavior cloning, which imitates expert actions but discards transferable dynamics knowledge embedded in heterogeneous embodied data. While the Unified World Model (UWM) formulation…