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

Multimodal Large Language Models (MLLMs) excel in understanding complex language and visual data, enabling generalist robotic systems to interpret instructions and perform embodied tasks. Nevertheless, their real-world deployment is…

Vision-language-action (VLA) models perform well on training-seen robotic tasks but struggle to generalize to unseen scenes and objects. A key limitation lies in their implicit visual representations, which entangle object appearance,…

This research introduces a transformative framework for integrating Vision-Enhanced Large Language Models (LLMs) with advanced transformer-based architectures to tackle challenges in high-resolution image synthesis and multimodal data…

Video generative models (VGMs) pretrained on large-scale internet data can produce temporally coherent rollout videos that capture rich object dynamics, offering a compelling foundation for zero-shot robotic manipulation. However, VGMs…

Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into robotic actions. Despite their recent advancements,…

Generalization remains a fundamental challenge in robotic manipulation. To tackle this challenge, recent Vision-Language-Action (VLA) models build policies on top of Vision-Language Models (VLMs), seeking to transfer their open-world…

Large vision-language models (VLMs) excel at multimodal understanding but fall short when extended to embodied tasks, where instructions must be transformed into low-level motor actions. We introduce ST4VLA, a dual-system…

This paper tackles spatial perception and manipulation challenges in Vision-Language-Action (VLA) models. To address depth ambiguity from monocular input, we leverage a pre-trained multi-view diffusion model to synthesize latent novel views…

The generalization of vision-language-action (VLA) models heavily relies on diverse training data. However, acquiring large-scale data for robot manipulation across varied object appearances is costly and labor-intensive. To address this…

Vision-Language-Action (VLA) models have shown strong potential for general-purpose robot manipulation by unifying perception and action. However, existing VLA systems primarily rely on textual instructions and struggle to resolve spatial…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

Large Vision-Language Models (LVLMs) have achieved remarkable success in a wide range of multimodal tasks by integrating pre-trained vision encoders and large language models. However, current LVLMs primarily rely on visual features…

Enabling robots to perform diverse tasks across varied environments is a central challenge in robot learning. While vision-language-action (VLA) models have shown promise for generalizable robot skills, realizing their full potential…

Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…

This study evaluates two leading approaches for teaching construction robots new skills to understand their applicability for construction automation: a Vision-Language-Action (VLA) model and Reinforcement Learning (RL) methods. The goal is…

Infrared and visible image fusion plays a critical role in enhancing scene perception by combining complementary information from different modalities. Despite recent advances, achieving high-quality image fusion with lightweight models…

In this paper, we explore techniques centered around periodic sampling of model weights that provide convergence improvements on gradient update methods (vanilla \acs{SGD}, Momentum, Adam) for a variety of vision problems (classification,…

Vision-Language Models (VLMs) have become essential backbones of modern multimodal intelligence, yet their outputs remain prone to hallucination-plausible text misaligned with visual inputs. Existing alignment approaches often rely on…

Vision-language-action (VLA) models represent a promising direction for developing general-purpose robotic systems, demonstrating the ability to combine visual understanding, language comprehension, and action generation. However,…

Visual-Language-Action (VLA) models represent a paradigm shift in embodied AI, yet existing frameworks often struggle with imprecise spatial perception, suboptimal multimodal fusion, and instability in reinforcement learning. To bridge…