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

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…

Vision-Language Models (VLMs) have shown remarkable potential in advancing autonomous driving by leveraging multi-modal fusion in order to enhance scene perception, reasoning, and decision-making. Despite their potential, existing models…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

The scalability of robotic manipulation is fundamentally bottlenecked by the scarcity of task-aligned physical interaction data. While vision-language models (VLMs) and video generation models (VGMs) hold promise for autonomous data…

This work targets to merge various Vision Transformers (ViTs) trained on different tasks (i.e., datasets with different object categories) or domains (i.e., datasets with the same categories but different environments) into one unified…

The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…

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…

Continual learning is conventionally tackled through sequential fine-tuning, a process that, while enabling adaptation, inherently favors plasticity over the stability needed to retain prior knowledge. While existing approaches attempt to…

Existing RGB-Event detection methods process the low-information regions of both modalities (background in images and non-event regions in event data) uniformly during feature extraction and fusion, resulting in high computational costs and…

Robotic real-world reinforcement learning (RL) with vision-language-action (VLA) models is bottlenecked by sparse, handcrafted rewards and inefficient exploration. We introduce VLAC, a general process reward model built upon InternVL and…

Core to the vision-and-language navigation (VLN) challenge is building robust instruction representations and action decoding schemes, which can generalize well to previously unseen instructions and environments. In this paper, we report…

Multi-task learning (MTL) paradigm focuses on jointly learning two or more tasks, aiming for significant improvement w.r.t model's generalizability, performance, and training/inference memory footprint. The aforementioned benefits become…

Learning long-horizon robotic manipulation requires jointly achieving expressive behavior modeling, real-time inference, and stable execution, which remains challenging for existing generative policies. Diffusion-based approaches offer…

Vision-Language-Action (VLA) models have shown remarkable potential in visuomotor control and instruction comprehension through end-to-end learning processes. However, current VLA models face significant challenges: they are slow during…

Vision-Language-Action (VLA) models trained via imitation learning suffer from significant performance degradation in data-scarce scenarios due to their reliance on large-scale demonstration datasets. Although reinforcement learning…

We adapt a pre-trained Vision-Language-Action (VLA) model (Open-VLA) for dexterous human-robot collaboration with minimal language prompting. Our approach adds (i) FiLM conditioning to visual backbones for task-aware perception, (ii) an…

Vision language action (VLA) models enable generalist robotic agents but often exhibit language ignorance, relying on visual shortcuts and remaining insensitive to instruction changes. We present Prospective Grounding and Alignment VLA…

Multi-task learning (MTL) is an efficient solution to solve multiple tasks simultaneously in order to get better speed and performance than handling each single-task in turn. The most current methods can be categorized as either: (i) hard…

Reinforcement learning (RL) workloads take a notoriously long time to train due to the large number of samples collected at run-time from simulators. Unfortunately, cluster scale-up approaches remain expensive, and commonly used CPU…

Diffusion and flow matching models have emerged as powerful robot policies, enabling Vision-Language-Action (VLA) models to generalize across diverse scenes and instructions. Yet, when trained via imitation learning, their high generative…