相关论文: StableVLA: Towards Robust Vision-Language-Action M…

To operate effectively in the real world, robots should integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to…

Various adaptation methods, such as LoRA, prompts, and adapters, have been proposed to enhance the performance of pre-trained vision-language models in specific domains. The robustness of these adaptation methods against distribution shifts…

Vision-Language-Action (VLA) models have recently shown impressive generalization and language-guided manipulation capabilities. However, their performance degrades on tasks requiring precise spatial reasoning due to limited spatial…

Vision-Language-Action (VLA) models show promise in embodied reasoning, yet remain far from true generalists-they often require task-specific fine-tuning, incur high compute costs, and generalize poorly to unseen tasks. We propose MetaVLA,…

The growing success of Vision-Language-Action (VLA) models stems from the promise that pretrained Vision-Language Models (VLMs) can endow agents with transferable world knowledge and vision-language (VL) grounding, laying a foundation for…

The Visual-Language-Action (VLA) models can follow text instructions according to visual observations of the surrounding environment. This ability to map multimodal inputs to actions is derived from the training of the VLA model on…

Vision-Language-Action (VLA) models have emerged as a powerful framework that unifies perception, language, and control, enabling robots to perform diverse tasks through multimodal understanding. However, current VLA models typically…

How to efficiently transform large language models (LLMs) into instruction followers is recently a popular research direction, while training LLM for multi-modal reasoning remains less explored. Although the recent LLaMA-Adapter…

Recent vision-language-action (VLA) models built upon pretrained vision-language models (VLMs) have achieved significant improvements in robotic manipulation. However, current VLAs still suffer from low sample efficiency and limited…

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 models (VLAs) show potential as generalist robot policies. However, these models pose extreme safety challenges during real-world deployment, including the risk of harm to the environment, the robot itself, and…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for robotic manipulation, in which reliable action prediction critically depends on accurately interpreting and integrating visual observations conditioned on…

Vision-Language-Action (VLA) models, particularly diffusion-based architectures, demonstrate transformative potential for embodied intelligence but are severely hampered by high computational and memory demands stemming from extensive…

Visual Language Models (VLMs) have achieved remarkable progress, yet their reliability under small, meaning-preserving input changes remains poorly understood. We present the first large-scale, systematic study of VLM robustness to benign…

Large Vision Language Models (LVLMs) excel in various vision-language tasks. Yet, their robustness to visual variations in position, scale, orientation, and context that objects in natural scenes inevitably exhibit due to changes in…

Despite remarkable progress in Vision-Language-Action models (VLAs) for robot manipulation, these large pre-trained models require fine-tuning to be deployed in specific environments. These fine-tuned models are highly sensitive to camera…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Vision-Language-Action (VLA) models typically map visual observations and linguistic instructions directly to control signals. This "black-box" mapping forces a single forward pass to simultaneously handle instruction interpretation,…

Large vision-language models show tremendous potential in understanding visual information through human languages. However, they are prone to suffer from object hallucination, i.e., the generated image descriptions contain objects that do…

Vision-language action (VLA) policies often report strong manipulation benchmark performance with relatively few demonstrations, but it remains unclear whether this reflects robust language-to-object grounding or reliance on…