5 papers · 1 filter
Object-Centric Conditioning for Visuomotor Flow Matching
Jijie Li, Xu Yang, Junhong Zou +4
Robot visuomotor policies are commonly formulated as autoregressive, diffusion-based, or more recently, flow matching models. Among them, Action-to-Action (A2A) flow matching impro…
Temporal Forcing: 4D Representation Alignment for Vision-Language-Action Models
Xingyu Ding, Yuzhong Zhao, Chunhai Zhao +3
Long-horizon robotic manipulation requires vision-language-action (VLA) models to track scene states and their evolution beyond the current observation. However, simply conditionin…
Mind-VLA: Instruction-Aware Spatial Representation Alignment for Vision-Language-Action Models
Xingyu Ding, Yuzhong Zhao, Yang Wu +4
Recent Vision-Language-Action (VLA) methods improve generalization by aligning their representations with 3D scene geometry. However, these methods are fundamentally instruction-ag…
PhysVLM: Enabling Visual Language Models to Understand Robotic Physical Reachability
Weijie Zhou, Manli Tao, Chaoyang Zhao +4
Understanding the environment and a robot's physical reachability is crucial for task execution. While state-of-the-art vision-language models (VLMs) excel in environmental percept…
LightPlanner: Unleashing the Reasoning Capabilities of Lightweight Large Language Models in Task Planning
Weijie Zhou, Manli Tao, Chaoyang Zhao +3
In recent years, lightweight large language models (LLMs) have garnered significant attention in the robotics field due to their low computational resource requirements and suitabi…