26 papers
Feeling the Unexpected: ResTacVLA for Contact-Rich Manipulation via Residual Tactile Representation
Pengwei Zhang, Bin Xie, Ce Hao +5
Tactile perception is indispensable for contact-rich manipulation, yet integrating it into Vision-Language-Action (VLA) models often induces modality collapse, where high-bandwidth…
MemoryVLA++: Temporal Modeling via Memory and Imagination in Vision-Language-Action Models
Hao Shi, Weiye Li, Bin Xie +6
Temporal modeling is essential for robotic manipulation, as effective control requires both memory of past interactions and imagination of future states. However, most VLA models r…
QuadVerse: An Integrated Framework Aligning Visual-Physical Reality for Quadruped Simulation
Yuxiang Chen, Yuanhao Wang, Ziheng Zhang +6
Simulation is central to robot learning, yet the sim-to-real gap remains a major bottleneck. Existing approaches often tackle visual or dynamic gaps separately, overlooking how the…
UniLab: A Heterogeneous Architecture for Robot RL Beyond GPU-Dominant Paradigms
Yufei Jia, Zhanxiang Cao, Mingrui Yu +48
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-ce…
Realtime-VLA FLASH: Speculative Inference Framework for Diffusion-based VLAs
Jiahui Niu, Kefan Gu, Yucheng Zhao +5
Diffusion-based vision-language-action models (dVLAs) are promising for embodied intelligence but are fundamentally limited in real-time deployment by the high latency of full infe…
PriorVLA: Prior-Preserving Adaptation for Vision-Language-Action Models
Xinyu Guo, Bin Xie, Wei Chai +4
Large-scale pretraining has made Vision-Language-Action (VLA) models promising foundations for generalist robot manipulation, yet adapting them to downstream tasks remains necessar…