相关论文: How Fast Can I Run My VLA? Demystifying VLA Infere…

In this paper, we present DiffusionVLA, a novel framework that seamlessly combines the autoregression model with the diffusion model for learning visuomotor policy. Central to our approach is a next-token prediction objective, enabling the…

In recent years, Vision-Language-Action (VLA) models have become a vital research direction in robotics due to their impressive multimodal understanding and generalization capabilities. Despite the progress, their practical deployment is…

LIBERO has emerged as a widely adopted benchmark for evaluating Vision-Language-Action (VLA) models; however, its current training and evaluation settings are problematic, often leading to inflated performance estimates and preventing fair…

RAPID-LLM is a unified performance modeling framework for large language model (LLM) training and inference on GPU clusters. It couples a DeepFlow-based frontend that generates hardware-aware, operator-level Chakra execution traces from an…

Leveraging temporal context is crucial for success in partially observable robotic tasks. However, prior work in behavior cloning has demonstrated inconsistent performance gains when using multi-frame observations. In this paper, we…

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…

Robotic foundation models achieve strong generalization by leveraging internet-scale vision-language representations, but their massive computational cost creates a fundamental bottleneck: high inference latency. In dynamic environments,…

Reliable benchmarking is critical for advancing Vision-Language-Action (VLA) models, as it reveals their generalization, robustness, and alignment of perception with language-driven manipulation tasks. However, existing benchmarks often…

Vision-language-action models (VLAs) have shown potential in leveraging pretrained vision-language models and diverse robot demonstrations for learning generalizable sensorimotor control. While this paradigm effectively utilizes large-scale…

The rapid evolution of Embodied AI has enabled Vision-Language-Action (VLA) models to excel in multimodal perception and task execution. However, applying Reinforcement Learning (RL) to these massive models in large-scale distributed…

Robot foundation models, particularly Vision-Language-Action (VLA) models, have garnered significant attention for their ability to enhance robot policy learning, greatly improving robot's generalization and robustness. OpenAI's recent…

As Large Language Models (LLMs) are rapidly growing in popularity, LLM inference services must be able to serve requests from thousands of users while satisfying performance requirements. The performance of an LLM inference service is…

Leveraging diverse robotic data for pretraining remains a critical challenge. Existing methods typically model the dataset's action distribution using simple observations as inputs. However, these inputs are often incomplete, resulting in a…

Vision-Language-Action (VLA) models have demonstrated potential in autonomous driving. However, two critical challenges hinder their development: (1) Existing VLA architectures are typically based on imitation learning in open-loop setup…

Vision-Language-Action (VLA) models have made substantial progress by leveraging the robust capabilities of Visual Language Models (VLMs). However, VLMs' significant parameter size and autoregressive (AR) decoding nature impose considerable…

Robotic manipulation in 3D requires effective computation of N degree-of-freedom joint-space trajectories that enable precise and robust control. To achieve this, robots must integrate semantic understanding with visual perception to…

Vision-Language-Action (VLA) models pretrained on large-scale multimodal datasets have emerged as powerful foundations for robotic perception and control. However, their massive scale, often billions of parameters, poses significant…

Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA systems often lose key capabilities…

With the recent rise of large language models, vision-language models, and other general foundation models, there is growing potential for multimodal, multi-task robotics that can operate in diverse environments given natural language…

Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video…