相关论文: Realtime-VLA FLASH: Speculative Inference Framewor…

Vision-Language-Action (VLA) models have shown remarkable success in robotic tasks like manipulation by fusing a language model's reasoning with a vision model's 3D understanding. However, their high computational cost remains a major…

This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard supervised finetuning (SFT). Some advanced finetuning methods…

Vision-Language-Action (VLA) models are receiving increasing attention for their ability to enable robots to perform complex tasks by integrating visual context with linguistic commands. However, achieving efficient real-time performance…

Speculative decoding has emerged as a widely adopted method to accelerate large language model inference without sacrificing the quality of the model outputs. While this technique has facilitated notable speed improvements by enabling…

Diffusion large language models (dLLMs) are emerging as a promising alternative to autoregressive models (ARMs) due to their ability to capture bidirectional context and the potential for parallel generation. Despite the advantages, dLLM…

We introduce FLEX (FLow EXpert), a backbone architecture for generative modeling of spatio-temporal physical systems using diffusion models. FLEX operates in the residual space rather than on raw data, a modeling choice that we motivate…

Diffusion-based LLMs (dLLMs) fundamentally depart from traditional autoregressive (AR) LLM inference: they leverage bidirectional attention, block-wise KV cache refreshing, cross-step reuse, and a non-GEMM-centric sampling phase. These…

Diffusion models are a class of generative models that have been recently used for speech enhancement with remarkable success but are computationally expensive at inference time. Therefore, these models are impractical for processing…

Unlike autoregressive language models, which terminate variable-length generation upon predicting an End-of-Sequence (EoS) token, Diffusion Language Models (DLMs) operate over a fixed maximum-length context window for a predetermined number…

We propose DiFFPO, Diffusion Fast and Furious Policy Optimization, a unified framework for training masked diffusion large language models (dLLMs) to reason not only better (furious), but also faster via reinforcement learning (RL). We…

Developing efficient Vision-Language-Action (VLA) policies is crucial for practical robotics deployment, yet current approaches face prohibitive computational costs and resource requirements. Existing diffusion-based VLA policies require…

We propose an inference-time scaling approach for pretrained flow models. Recently, inference-time scaling has gained significant attention in LLMs and diffusion models, improving sample quality or better aligning outputs with user…

Event-based multimodal large language models (MLLMs) enable robust perception in high-speed and low-light scenarios, addressing key limitations of frame-based MLLMs. However, current event-based MLLMs often rely on dense image-like…

Transformer models have revolutionized natural language processing, achieving state-of-the-art performance and demonstrating remarkable scalability. However, their memory demands, particularly due to maintaining full context in memory, pose…

Vision-Language-Action (VLA) models are a powerful paradigm for generalist robotic control. However, their high computational cost and limited control frequency hinder real-time robotic manipulation, especially when large vision-language…

Recent advances in Vision-Language-Action (VLA) models have established a two-component architecture, where a pre-trained Vision-Language Model (VLM) encodes visual observations and task descriptions, and an action decoder maps these…

Video-based AI systems are increasingly adopted in safety-critical domains such as autonomous driving and healthcare. However, interpreting their decisions remains challenging due to the inherent spatiotemporal complexity of video data and…

Vision-Language-Action (VLA) models built on pretrained Vision-Language Models (VLMs) show strong potential but are limited in practicality due to their large parameter counts. To mitigate this issue, using a lightweight VLM has been…

Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…

General vision-language models increasingly support unified spatiotemporal reasoning over long video streams, yet deploying such capabilities on robots remains constrained by the prohibitive latency of processing long-horizon histories and…