6 papers · 1 filter
MolmoAct2: Action Reasoning Models for Real-world Deployment
Haoquan Fang, Jiafei Duan, Donovan Clay +26
Vision-Language-Action (VLA) models aim to provide a single generalist controller for robots, but today's systems fall short on the criteria that matter for real-world deployment.…
MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation
Yejin Kim, Wilbert Pumacay, Omar Rayyan +23
Deploying robots at scale demands robustness to the long tail of everyday situations. The countless variations in scene layout, object geometry, and task specifications that charac…
RRT: Sampling-based Motion Planning and Control from STL Specifications using Arithmetic-Geometric Mean Robustness
Ahmad Ahmad, Shuo Liu, Roberto Tron +1
Sampling-based motion planning has emerged as a powerful approach for robotics, enabling exploration of complex, high-dimensional configuration spaces. When combined with Signal Te…
VLS: Steering Pretrained Robot Policies via Vision-Language Models
Shuo Liu, Ishneet Sukhvinder Singh, Yiqing Xu +2
Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarel…
FORGE-Tree: Diffusion-Forcing Tree Search for Long-Horizon Robot Manipulation
Yanjia Huang, Shuo Liu, Sheng Liu +4
Long-horizon robot manipulation tasks remain challenging for Vision-Language-Action (VLA) policies due to drift and exposure bias, often denoise the entire trajectory with fixed hy…
MolmoAct: Action Reasoning Models that can Reason in Space
Jason Lee, Jiafei Duan, Haoquan Fang +16
Reasoning is central to purposeful action, yet most robotic foundation models map perception and instructions directly to control, which limits adaptability, generalization, and se…