12 papers
Finetuning Vision-Language-Action Models Requires Fewer Layers Than You Think
Gia-Binh Nguyen, Trong-Bao Ho, Thien-Loc Ha +18
Vision-Language-Action (VLA) models pre-trained on massive video-robot datasets have revolutionized robotic manipulation, yet their multi-billion parameter architectures impose pro…
FOCA: Future-Oriented Conditioning for Data-Efficient Vision-Language-Action Adaptation
Duc Minh Nguyen, Nghiem Tuong Diep, Binh Gia Nguyen +20
Vision-Language-Action (VLA) models enable general-purpose robotic control via large-scale multimodal pretraining, yet their effectiveness under few-shot imitation learning remains…
EquiVLA: A General Framework for Rotationally Equivariant Vision-Language-Action Models
Thien-Loc Ha, Quang-Tan Nguyen, Trong-Bao Ho +8
Vision-Language-Action (VLA) models have emerged as a powerful paradigm for generalist robot manipulation, yet they lack geometric inductive biases: policies trained at specific or…
Start Right, Arrive Right: Asynchronous Execution via Initial Noise Selection
Trong-Bao Ho, Quang-Tan Nguyen, Thien-Loc Ha +7
Action chunking enables robot policies to produce temporally coherent behavior, but generating multi-step action sequences with flow-based policies incurs latency that is incompati…
Coupled Routing and Configuration Optimization for Multi-Viewpoint Robotic Inspection
Minh Nhat Vu, Khang Nguyen, Vu Trung Tran +1
We present a unified framework that turns a set of 6-DoF inspection viewpoints into a time-optimal, collision-free route for a 9-DoF robotic system. Unlike modular pipelines that f…
Self-Improving VLA Policies: Selected Diffusion Noise for Spurious-Robust Action Smoothing
Duc Minh Nguyen, Bao-Ngoc Dao, Tung M. Luu +15
Diffusion-based Vision-Language-Action (VLA) policies enable strong generalization in robotic manipulation, but remain sensitive to spurious visual correlations and noisy action ge…