5 papers
GR-3 Technical Report
Chilam Cheang, Sijin Chen, Zhongren Cui +18
We report our recent progress towards building generalist robot policies, the development of GR-3. GR-3 is a large-scale vision-language-action (VLA) model. It showcases exceptiona…
BridgeVLA: Input-Output Alignment for Efficient 3D Manipulation Learning with Vision-Language Models
Peiyan Li, Yixiang Chen, Hongtao Wu +6
Recently, leveraging pre-trained vision-language models (VLMs) for building vision-language-action (VLA) models has emerged as a promising approach to effective robot manipulation…
Human-assisted Robotic Policy Refinement via Action Preference Optimization
Wenke Xia, Yichu Yang, Hongtao Wu +3
Establishing a reliable and iteratively refined robotic system is essential for deploying real-world applications. While Vision-Language-Action (VLA) models are widely recognized a…
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu, Qiyang Li, Jianlan Luo +1
Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, th…
World Model-based Perception for Visual Legged Locomotion
Hang Lai, Jiahang Cao, Jiafeng Xu +5
Legged locomotion over various terrains is challenging and requires precise perception of the robot and its surroundings from both proprioception and vision. However, learning dire…