相关论文: One Token Per Frame: Reconsidering Visual Bandwidt…

Efficient and lightweight adaptation of pre-trained Vision-Language Models (VLMs) to downstream tasks through collaborative interactions between local clients and a central server is a rapidly emerging research topic in federated learning.…

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The execution of complex multi-step behaviors in VLA models can be improved by robust instruction grounding, a critical component…

Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify…

Vision-Language-Action (VLA) models have demonstrated strong multi-modal reasoning capabilities, enabling direct action generation from visual perception and language instructions in an end-to-end manner. However, their substantial…

Vision-language-action (VLA) models provide a powerful approach to training control policies for physical systems, such as robots, by combining end-to-end learning with transfer of semantic knowledge from web-scale vision-language model…

The goal of this paper is to improve the performance and reliability of vision-language-action (VLA) models through iterative online interaction. Since collecting policy rollouts in the real world is expensive, we investigate whether a…

Vision-Language-Action (VLA) models often suffer from performance degradation under distribution shifts, as they struggle to learn generalized behavior representations across varying environments. While existing approaches attempt to…

The vision transformer splits each image into a sequence of tokens with fixed length and processes the tokens in the same way as words in natural language processing. More tokens normally lead to better performance but considerably…

Vision-language-action (VLA) models typically rely on large-scale real-world videos, whereas simulated data, despite being inexpensive and highly parallelizable to collect, often suffers from a substantial visual domain gap and limited…

This paper proposes VLA-AN, an efficient and onboard Vision-Language-Action (VLA) framework dedicated to autonomous drone navigation in complex environments. VLA-AN addresses four major limitations of existing large aerial navigation…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

Vision-Language-Action (VLA) models have shown great potential for embodied AI by integrating visual perception, language understanding, and action execution. In real-time deployment, these models must process continuous visual streams,…

Large vision-language models (LVLMs) have demonstrated remarkable capabilities in multimodal understanding tasks. However, the increasing demand for high-resolution image and long-video understanding results in substantial token counts,…

Vision-Language Models (VLMs) are powerful tools for processing and understanding text and images. We study the processing of visual tokens in the language model component of LLaVA, a prominent VLM. Our approach focuses on analyzing the…

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 emerged as powerful generalist policies for robotic control, yet their performance scaling across model architectures and hardware platforms, as well as their associated power budgets, remain poorly…

Large Language Models (LLMs) have advanced rapidly but face significant memory demands. While quantization has shown promise for LLMs, current methods typically require lengthy training to alleviate the performance degradation from…

The advent of Vision-Language-Action (VLA) models represents a significant leap for embodied intelligence, yet their immense computational demands critically hinder deployment on resource-constrained robotic platforms. Intuitively, low-bit…

Large Vision-Language Models (LVLMs) encode visual inputs as dense sequences of patch-level tokens to capture fine-grained semantics. These visual tokens often outnumber their textual counterparts by a large margin, leading to substantial…

Vision-Language-Action (VLA) models have demonstrated robust performance across diverse robotic tasks. However, their high memory and computational demands often limit real-time deployment. While existing model compression techniques reduce…