相关论文: DynVLA: Learning World Dynamics for Action Reasoni…
Leveraging future observation modeling to facilitate action generation presents a promising avenue for enhancing the capabilities of Vision-Language-Action (VLA) models. However, existing approaches struggle to strike a balance between…
The integration of Vision-Language-Action (VLA) models into autonomous driving systems offers a unified framework for interpreting complex scenes and executing control commands. However, the necessity to incorporate historical multi-view…
Humans can flexibly interpret and compose different goal specifications, such as language instructions, spatial coordinates, or visual references, when navigating to a destination. In contrast, most existing robotic navigation policies are…
Autonomous driving in dense, dynamic environments requires decision-making systems that can exploit both spatial structure and long-horizon temporal dependencies while remaining robust to uncertainty. This work presents a novel framework…
The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…
Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can't large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in…
Imitation learning is becoming more and more successful for autonomous driving. End-to-end (raw signal to command) performs well on relatively simple tasks (lane keeping and navigation). Mid-to-mid (environment abstraction to mid-level…
While end-to-end Vision-Language-Action (VLA) models offer a promising paradigm for robotic manipulation, fine-tuning them on narrow control data often compromises the profound reasoning capabilities inherited from their base…
Lane change decision-making for autonomous vehicles is a complex but high-reward behavior. In this paper, we propose a hybrid input based deep reinforcement learning (DRL) algorithm, which realizes abstract lane change decisions and lane…
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,…
Driving Vision-Language-Action Models (Driving VLAs) commonly introduce natural-language reasoning as an intermediate interface for end-to-end planning, but reasoning-centric interfaces face three practical bottlenecks: obtaining…
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…
Vision-Language-Action (VLA) models achieve preliminary generalization through pretraining on large scale robot teleoperation datasets. However, acquiring datasets that comprehensively cover diverse tasks and environments is extremely…
Data-driven simulation has become a favorable way to train and test autonomous driving algorithms. The idea of replacing the actual environment with a learned simulator has also been explored in model-based reinforcement learning in the…
Recent advancements in computer graphics technology allow more realistic ren-dering of car driving environments. They have enabled self-driving car simulators such as DeepGTA-V and CARLA (Car Learning to Act) to generate large amounts of…
Vision-language-action models (VLAs) trained on large-scale robotic datasets have demonstrated strong performance on manipulation tasks, including bimanual tasks. However, because most public datasets focus on single-arm demonstrations,…
Humans learn not only how their bodies move, but also how the surrounding world responds to their actions. In contrast, while recent Vision-Language-Action (VLA) models exhibit impressive semantic understanding, they often fail to capture…
Recent advances in vision language action (VLA) models have shown remarkable potential for autonomous driving by directly mapping multimodal inputs to control signals. However, previous VLA-based methods have not explicitly exploited the…
Differentiable simulators represent an environment's dynamics as a differentiable function. Within robotics and autonomous driving, this property is used in Analytic Policy Gradients (APG), which relies on backpropagating through the…
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…