相关论文: Overcoming Visual Clutter in Vision Language Actio…

Recent Vision-Language-Action (VLA) models have made impressive progress toward general-purpose robotic manipulation by post-training large Vision-Language Models (VLMs) for action prediction. Yet most VLAs entangle perception and control…

Most existing Vision-Language-Action (VLA) models rely primarily on RGB information, while ignoring geometric cues crucial for spatial reasoning and manipulation. In this work, we introduce GLaD, a geometry-aware VLA framework that…

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…

Recent Vision-Language-Action (VLA) models have shown impressive flexibility and generalization, yet their deployment in robotic manipulation remains limited by heavy computational overhead and inference latency. In this work, we present…

In this work, we propose an evaluation protocol for examining the performance of robotic manipulation policies in cluttered scenes. Contrary to prior works, we approach evaluation from a psychophysical perspective, therefore we use a…

Significant advancements in video question answering (VideoQA) have been made thanks to thriving large image-language pretraining frameworks. Although these image-language models can efficiently represent both video and language branches,…

Data-free knowledge distillation (DFKD) is a promising approach for addressing issues related to model compression, security privacy, and transmission restrictions. Although the existing methods exploiting DFKD have achieved inspiring…

Equipping embodied agents with the ability to reason about tasks, foresee physical outcomes, and generate precise actions is essential for general-purpose manipulation. While recent Vision-Language-Action (VLA) models have leveraged…

Force sensing is a crucial modality for Vision-Language-Action (VLA) frameworks, as it enables fine-grained perception and dexterous manipulation in contact-rich tasks. We present Force-Distilled VLA (FD-VLA), a novel framework that…

Despite exciting progress in pre-training for visual-linguistic (VL) representations, very few aspire to a small VL model. In this paper, we study knowledge distillation (KD) to effectively compress a transformer-based large VL model into a…

Autonomous drones capable of interpreting and executing high-level language instructions in unstructured environments remain a long-standing goal. Yet existing approaches are constrained by their dependence on hand-crafted skills, extensive…

Vision-Language Models (VLMs) have shown remarkable performance on diverse visual and linguistic tasks, yet they remain fundamentally limited in their understanding of 3D spatial structures. We propose Geometric Distillation, a lightweight,…

Vision-Language-Action (VLA) models aim to control robots for manipulation from visual observations and natural-language instructions. However, existing hierarchical and autoregressive paradigms often introduce architectural overhead,…

Vision--Language--Action (VLA) policies have shown strong progress in mapping language instructions and visual observations to robotic actions, yet their reliability degrades in cluttered scenes with distractors. By analyzing failure cases,…

We aim at advancing open-vocabulary object detection, which detects objects described by arbitrary text inputs. The fundamental challenge is the availability of training data. It is costly to further scale up the number of classes contained…

The recent large-scale vision-language pre-training (VLP) of dual-stream architectures (e.g., CLIP) with a tremendous amount of image-text pair data, has shown its superiority on various multimodal alignment tasks. Despite its success, the…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm in Embodied AI. However, the significant computational overhead of processing redundant visual tokens remains a critical bottleneck for real-time robotic deployment.…

Vision-Language-Action (VLA) models have recently achieved remarkable progress in robotic perception and control, yet most existing approaches primarily rely on VLM trained using 2D images, which limits their spatial understanding and…

To address the larger computation and storage requirements associated with large video datasets, video dataset distillation aims to capture spatial and temporal information in a significantly smaller dataset, such that training on the…

Vision-Language Action (VLA) models significantly advance robotic manipulation by leveraging the strong perception capabilities of pretrained vision-language models (VLMs). By integrating action modules into these pretrained models, VLA…