19 papers
Robust Energy-Aware Routing for Air-Ground Cooperative Multi-UAV Delivery in Wind-Uncertain Environments
Tianshun Li, Hongliang Lu, Yanggang Sheng +3
Ensuring energy feasibility under wind uncertainty is critical for the safety and reliability of UAV delivery missions. In realistic truck-drone logistics systems, UAVs must delive…
Fast-dVLA: Accelerating Discrete Diffusion VLA to Real-Time Performance
Wenxuan Song, Jiayi Chen, Shuai Chen +8
This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard s…
VLA-OPD: Bridging Offline SFT and Online RL for Vision-Language-Action Models via On-Policy Distillation
Zhide Zhong, Haodong Yan, Junfeng Li +3
Although pre-trained Vision-Language-Action (VLA) models exhibit impressive generalization in robotic manipulation, post-training remains crucial to ensure reliable performance dur…
DualCoT-VLA: Visual-Linguistic Chain of Thought via Parallel Reasoning for Vision-Language-Action Models
Zhide Zhong, Junfeng Li, Junjie He +10
Vision-Language-Action (VLA) models map visual observations and language instructions directly to robotic actions. While effective for simple tasks, standard VLA models often strug…
DyGeoVLN: Infusing Dynamic Geometry Foundation Model into Vision-Language Navigation
Xiangchen Liu, Hanghan Zheng, Jeil Jeong +5
Vision-language Navigation (VLN) requires an agent to understand visual observations and language instructions to navigate in unseen environments. Most existing approaches rely on…
VAMPO: Policy Optimization for Improving Visual Dynamics in Video Action Models
Zirui Ge, Pengxiang Ding, Baohua Yin +16
Video action models are an appealing foundation for Vision--Language--Action systems because they can learn visual dynamics from large-scale video data and transfer this knowledge…