相关论文: ECHO: Continuous Hierarchical Memory for Vision-La…

Vision-Language-Action (VLA) models have shown strong performance in robotic manipulation, but often struggle in long-horizon or out-of-distribution scenarios due to the lack of explicit mechanisms for multimodal reasoning and anticipating…

Long-horizon robotic manipulation remains challenging for Vision-Language-Action (VLA) models despite recent progress in zero-shot generalization and simulation-to-real-world transfer. Current VLA models suffer from stage hallucination,…

Vision and Language Pretraining has become the prevalent approach for tackling multimodal downstream tasks. The current trend is to move towards ever larger models and pretraining datasets. This computational headlong rush does not seem…

Vision-Language-Action (VLA) models extend vision-language models to embodied control by mapping natural-language instructions and visual observations to robot actions. Despite their capabilities, VLA systems face significant challenges due…

Research on large language models (LLMs) has shown remarkable performance in domains such as mathematics, programming, and literary creation. However, most studies have focused on semantic memory-based question answering, neglecting LLMs'…

Pre-trained foundation models have demonstrated remarkable success in audio, vision and language, yet their potential for general machine signal modeling with arbitrary sampling rates-covering acoustic, vibration, and other industrial…

Vision-Language-Action (VLA) models enable generalist robotic manipulation but suffer from high inference latency. This bottleneck stems from the massive number of visual tokens processed by large language backbones. Existing methods either…

Vision-language-action (VLA) models for closed-loop robot control are typically cast under the Markov assumption, making them prone to errors on tasks requiring historical context. To incorporate memory, existing VLAs either retrieve from a…

While Large Language Models and their underlying Transformer architecture are remarkably efficient, they do not reflect how our brain processes and learns a diversity of cognitive tasks such as language, nor how it leverages working memory.…

The development of foundation models for embodied intelligence critically depends on access to large-scale, high-quality robot demonstration data. Recent approaches have sought to address this challenge by training on large collections of…

With large language models (LLMs) demonstrating remarkable capabilities, there has been a surge in research on leveraging LLMs to build general-purpose multi-modal agents. However, existing approaches either rely on computationally…

This paper introduces ECHO-LLaMA, an efficient LLaMA architecture designed to improve both the training speed and inference throughput of LLaMA architectures while maintaining its learning capacity. ECHO-LLaMA transforms LLaMA models into…

Modern Vision--Language--Action models often suffer from critical instruction-following failures in high-density manipulation environments, where task-irrelevant visual clutter dilutes attention, corrupts grounding, and substantially…

Test-time reinforcement learning generates multiple candidate answers via repeated rollouts and performs online updates using pseudo-labels constructed by majority voting. To reduce overhead and improve exploration, prior work introduces…

Environment Sound Classification has been a well-studied research problem in the field of signal processing and up till now more focus has been laid on fully supervised approaches. Over the last few years, focus has moved towards…

Recent advances in multimodal vision-language-action (VLA) models have revolutionized traditional robot learning, enabling systems to interpret vision, language, and action in unified frameworks for complex task planning. However, mastering…

Vision-Language-Action (VLA) models are promising for generalist robot manipulation but remain brittle in out-of-distribution (OOD) settings, especially with limited real-robot data. To resolve the generalization bottleneck, we introduce a…

Reliable benchmarking is critical for advancing Vision-Language-Action (VLA) models, as it reveals their generalization, robustness, and alignment of perception with language-driven manipulation tasks. However, existing benchmarks often…

Vision-Language-Action~(VLA) models have shown strong potential for general-purpose robotic manipulation, yet they still struggle to generalize to unseen tasks that necessitate transferring relevant experience across objects, scenes, and…

Memory is critical for long-horizon and history-dependent robotic manipulation. Such tasks often involve counting repeated actions or manipulating objects that become temporarily occluded. Recent vision-language-action (VLA) models have…