相关论文: Offline Semantic Guidance for Efficient Vision-Lan…

The growing demand for real-time robotic deployment necessitates fast and on-device inference for vision-language-action (VLA) models. Within the VLA literature, efficiency has been extensively studied at the token level, such as visual…

While Large Language Models (LLMs) have demonstrated significant promise as agents in interactive tasks, their substantial computational requirements and restricted number of calls constrain their practical utility, especially in…

Vision-Language Models (VLMs) such as CLIP are trained on large amounts of image-text pairs, resulting in remarkable generalization across several data distributions. However, in several cases, their expensive training and data…

Efficient Multimodal Large Language Models (MLLMs) compress vision tokens to reduce resource consumption, but the loss of visual information can degrade comprehension capabilities. Although some priors introduce Knowledge Distillation to…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

On-policy distillation (OPD) is increasingly used in LLM post-training because it can leverage a teacher model to provide dense supervision on student rollouts. The standard implementation, however, usually reduces distribution matching to…

Vision-Language Models (VLMs) bring powerful understanding and reasoning capabilities to multimodal tasks. Meanwhile, the great need for capable aritificial intelligence on mobile devices also arises, such as the AI assistant software. Some…

When using reinforcement learning (RL) for contact-rich robotic manipulation, vision can provide task-relevant information that accelerates learning beyond what proprioception alone can achieve. However, vision-enabled policies tend to…

The ability to efficiently and reliably learn new tasks has been a foundational challenge in robotics. Vision-Language-Action (VLA) models have demonstrated strong generalization across diverse manipulation tasks, yet pretrained policies…

Recent vision-language-action models (VLAs) build upon pretrained vision-language models and leverage diverse robot datasets to demonstrate strong task execution, language following ability, and semantic generalization. Despite these…

Vision-Language Models (VLMs) have shown remarkable capabilities in joint vision-language understanding, but their large scale poses significant challenges for deployment in resource-constrained scenarios. Knowledge Distillation (KD) offers…

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…

Vision-Language-Action (VLA) models have emerged as a unified paradigm for robotic perception and control, enabling emergent generalization and long-horizon task execution. However, their deployment in dynamic, real-world environments is…

The cooperative driving technology of Connected and Autonomous Vehicles (CAVs) is crucial for improving the efficiency and safety of transportation systems. Learning-based methods, such as Multi-Agent Reinforcement Learning (MARL), have…

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…

Vision-Language-Action (VLA) models adapt large vision-language backbones to map images and instructions into robot actions. However, prevailing VLAs either generate actions auto-regressively in a fixed left-to-right order or attach…

Leveraging the general world knowledge of Large Language Models (LLMs) holds significant promise for improving the ability of autonomous driving systems to handle rare and complex scenarios. While integrating LLMs into…

On-policy distillation (OPD) trains a student on its own trajectories under token-level teacher supervision, but existing methods are capped by a single-teacher capability ceiling: when the teacher errs, the student inherits the error. OPD…

Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…

Vision-Language-Action models (VLAs) are emerging as powerful tools for learning generalizable visuomotor control policies. However, current VLAs are mostly trained on large-scale image-text-action data and remain limited in two key ways:…