相关论文: TGM-VLA: Task-Guided Mixup for Sampling-Efficient …

Despite impressive advancements in recent multimodal reasoning approaches, they are still limited in flexibility and efficiency, as these models typically process only a few fixed modality inputs and require updates to numerous parameters.…

Recent advances in FlowMatching-based Vision-Language-Action (VLA) frameworks have demonstrated remarkable advantages in generating high-frequency action chunks, particularly for highly dexterous robotic manipulation tasks. Despite these…

Vision-Language-Action (VLA) models have shown remarkable promise in robotics manipulation, yet their high computational cost hinders real-time deployment. Existing token pruning methods suffer from a fundamental trade-off: aggressive…

Vision-Language-Action (VLA) models have shown substantial potential in real-world robotic manipulation. However, fine-tuning these models through supervised learning struggles to achieve robust performance due to limited, inconsistent…

Robotic manipulation with Vision-Language-Action models requires efficient inference over long-horizon multi-modal context, where attention to dense visual tokens dominates computational cost. Existing methods optimize inference speed by…

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…

Efficient control in long-horizon robotic manipulation is challenging due to complex representation and policy learning requirements. Model-based visual reinforcement learning (RL) has shown great potential in addressing these challenges…

Current end-to-end autonomous driving systems are fundamentally limited by a mismatch between temporal causal reasoning and global trajectory consistency. Autoregressive (AR) models capture interaction-aware temporal dependencies via causal…

Vision-Language Models (VLMs) have achieved remarkable progress, yet their large scale often renders them impractical for resource-constrained environments. This paper introduces Unified Reinforcement and Imitation Learning (RIL), a novel…

Vision-Language-Action (VLA) models empower robots to understand and execute tasks described by natural language instructions. However, a key challenge lies in their ability to generalize beyond the specific environments and conditions they…

A longstanding challenge in robot learning for manipulation tasks has been the ability to generalize to varying initial conditions, diverse objects, and changing objectives. Learning based approaches have shown promise in producing robust…

Multi-task learning (MTL) can advance assistive driving by exploring inter-task correlations through shared representations. However, existing methods face two critical limitations: single-modality constraints limiting comprehensive scene…

Vision-Language-Action (VLA) models demonstrate promising generalization in robotic manipulation, driven by advances in large-scale vision and language pre-training. This progress can be misleading. Despite the zero-shot perception and…

Predictive foresight is important to intelligent embodied agents. Since the motor execution of a robot is intrinsically constrained by its visual perception of environmental geometry, effectively anticipating the future requires capturing…

Real world deployments often expose modern object recognition models to domain shifts that precipitate a severe drop in accuracy. Such shifts encompass (i) variations in low level image statistics, (ii) changes in object pose and viewpoint,…

Effectively integrating diverse sensory modalities is crucial for robotic manipulation. However, the typical approach of feature concatenation is often suboptimal: dominant modalities such as vision can overwhelm sparse but critical signals…

Transformer-based Vision-Language Models (VLMs) have achieved impressive performance on tasks such as image captioning, object recognition, and visual reasoning, but their high computational cost hinders deployment in latency-sensitive…

Multi-task robot learning holds significant importance in tackling diverse and complex scenarios. However, current approaches are hindered by performance issues and difficulties in collecting training datasets. In this paper, we propose…

Vision-Language-Action (VLA) models have attracted increasing attention for their strong control capabilities. However, their high computational cost and low execution frequency hinder their suitability for real-time tasks such as robotic…

Recent advancements in large language models (LLMs) have enabled their use as agents for planning complex tasks. Existing methods typically rely on a thought-action-observation (TAO) process to enhance LLM performance, but these approaches…