相关论文: UAOR: Uncertainty-aware Observation Reinjection fo…

Vision-Language-Action models (VLAs) hold immense promise for enabling generalist robot manipulation. However, the best way to build them remains an open question. Current approaches often add complexity, such as modifying the existing…

Latent Action Models (LAMs) enable Vision- Language-Action (VLA) systems to learn semantic action representations from large-scale unannotated data. Yet, we identify two bottlenecks of LAMs: 1) the commonly adopted end-to-end trained image…

Recent Vision-Language-Action (VLA) models equipped with Flow Matching (FM) action heads achieve state-of-the-art performance in complex robot manipulation. However, the multi-step iterative ODE solving required by FM introduces inference…

Vision-Language Models (VLMs), built on pre-trained vision encoders and large language models (LLMs), have shown exceptional multi-modal understanding and dialog capabilities, positioning them as catalysts for the next technological…

Large Language Model (LLM)-based Vision-Language Models (VLMs) have substantially extended the boundaries of visual understanding capabilities. However, their high computational demands hinder deployment on resource-constrained edge…

Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular,…

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,…

Large policies pretrained on a combination of Internet-scale vision-language data and diverse robot demonstrations have the potential to change how we teach robots new skills: rather than training new behaviors from scratch, we can…

Recently, by introducing large-scale dataset and strong transformer network, video-language pre-training has shown great success especially for retrieval. Yet, existing video-language transformer models do not explicitly fine-grained…

Vision-Language-Action (VLA) models are emerging as a next-generation paradigm for robotics. We introduce dVLA, a diffusion-based VLA that leverages a multimodal chain-of-thought to unify visual perception, language reasoning, and robotic…

Vision-Language-Action (VLA) models have emerged as a generalist robotic agent. However, existing VLAs are hindered by excessive parameter scales, prohibitive pre-training requirements, and limited applicability to diverse embodiments. To…

Vision-based robotic policies often struggle with even minor viewpoint changes, underscoring the need for view-invariant visual representations. This challenge becomes more pronounced in real-world settings, where viewpoint variability is…

Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…

Despite advances in Vision-Language-Action (VLA) models, robotic manipulation struggles with fine-grained tasks because current models lack mechanisms for active visual attention allocation. Human gaze naturally encodes intent, planning,…

The generation of factually incorrect objects, commonly known as object hallucination, remains a persistent challenge in Large Vision-Language Models (LVLMs). Current approaches to address this issue - ranging from expensive data-driven…

Vision-Language-Action (VLA) models have recently achieved notable progress in end-to-end autonomous driving by integrating perception, reasoning, and control within a unified multimodal framework. However, they often lack explicit modeling…

Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety risks of real-world interaction. Training VLA models in…

Vision-Language-Action (VLA) models have shown great potential for embodied AI by integrating visual perception, language understanding, and action execution. In real-time deployment, these models must process continuous visual streams,…

Recent Vision-Language-Action (VLA) models show strong generalization capabilities, yet they lack introspective mechanisms for anticipating failures and requesting help from a human supervisor. We present \textbf{INSIGHT}, a learning…

Vision-Language-Action (VLA) models offer a unified framework for robotic perception and control, but their ability to scale to real-world, long-horizon tasks is limited by the high computational cost of attention and the large memory…