相关论文: How Fast Can I Run My VLA? Demystifying VLA Infere…
Many robotic manipulation tasks require sensing and responding to force signals such as torque to assess whether the task has been successfully completed and to enable closed-loop control. However, current Vision-Language-Action (VLA)…
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,…
Vision-Language-Action (VLA) models revolutionize robotic systems by enabling end-to-end perception-to-action pipelines that integrate multiple sensory modalities, such as visual signals processed by cameras and auditory signals captured by…
Vision-Language-Action (VLA) models have become a prominent paradigm for embodied intelligence, yet further performance improvements typically rely on scaling up training data and model size -- an approach that is prohibitively expensive…
Real-time execution is crucial for deploying Vision-Language-Action (VLA) models in the physical world. Existing asynchronous inference methods primarily optimize trajectory smoothness, but neglect the critical latency in reacting to…
Large Language Models (LLMs) have propelled groundbreaking advancements across several domains and are commonly used for text generation applications. However, the computational demands of these complex models pose significant challenges,…
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…
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…
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…
Vision-Language-Action (VLA) models integrate visual perception, language understanding, and action decision-making for cross-modal semantic alignment, exhibiting broad application potential. However, the joint processing of…
One promise that Vision-Language-Action (VLA) models hold over traditional imitation learning for robotics is to leverage the broad generalization capabilities of large Vision-Language Models (VLMs) to produce versatile, "generalist" robot…
Vision-Language-Action (VLA) models have emerged as a unified paradigm for robotic perception and control, enabling emergent generalization and long-horizon task execution. However, their deployment in dynamic, real-world environments is…
Recent work has begun to equip vision-language-action (VLA) policies with explicit intermediate reasoning. In embodied control, however, textual chain-of-thought is a poor fit: irrelevant or weakly textual information can interfere with…
Current research on Vision-Language-Action (VLA) models predominantly focuses on enhancing generalization through established reasoning techniques. While effective, these improvements invariably increase computational complexity and…
General vision-language models increasingly support unified spatiotemporal reasoning over long video streams, yet deploying such capabilities on robots remains constrained by the prohibitive latency of processing long-horizon histories and…
Embodied intelligence systems, which enhance agent capabilities through continuous environment interactions, have garnered significant attention from both academia and industry. Vision-Language-Action models, inspired by advancements in…
This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard supervised finetuning (SFT). Some advanced finetuning methods…
Vision-Language-Action models (VLA) have demonstrated remarkable capabilities and promising potential in solving complex robotic manipulation tasks. However, their substantial parameter sizes and high inference latency pose significant…
Recently, Vision-Language-Action (VLA) models have demonstrated strong performance on a range of robotic tasks. These models rely on multimodal inputs, with language instructions playing a crucial role -- not only in predicting actions, but…
Vision-Language-Action (VLA) models, which integrate pretrained large Vision-Language Models (VLM) into their policy backbone, are gaining significant attention for their promising generalization capabilities. This paper revisits a…