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cs.RO2025
Mechanistic Finetuning of Vision-Language-Action Models via Few-Shot Demonstrations
Chancharik Mitra, Yusen Luo, Raj Saravanan +7
Vision-Language Action (VLAs) models promise to extend the remarkable success of vision-language models (VLMs) to robotics. Yet, unlike VLMs in the vision-language domain, VLAs for…
cs.RO2025
LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction
Haoru Xue, Xiaoyu Huang, Dantong Niu +8
Vision-language-action (VLA) models have demonstrated strong semantic understanding and zero-shot generalization, yet most existing systems assume an accurate low-level controller…
cs.RO2025
Pre-training Auto-regressive Robotic Models with 4D Representations
Dantong Niu, Yuvan Sharma, Haoru Xue +5
Foundation models pre-trained on massive unlabeled datasets have revolutionized natural language and computer vision, exhibiting remarkable generalization capabilities, thus highli…