4 papers · 1 filter
HiMe: Hierarchical Embodied Memory for Long-Horizon Vision-Language-Action Control
Li Ji, Siyin Wang, Pengfang Qian +5
Current Vision-Language-Action (VLA) models excel at robotic manipulation but often struggle with non-Markovian tasks requiring long-term memory and reasoning due to their reliance…
Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data
Linqi Yin, Shiduo Zhang, Shenling Qiu +11
Vision-language models (VLMs) are powerful general-purpose reasoners, yet converting them into robot control policies (VLAs) is surprisingly difficult. The root cause is a two-fold…
LIBERO-Plus: In-depth Robustness Analysis of Vision-Language-Action Models
Senyu Fei, Siyin Wang, Junhao Shi +10
Visual-Language-Action (VLA) models report impressive success rates on robotic manipulation benchmarks, yet these results may mask fundamental weaknesses in robustness. We perform…
Score and Distribution Matching Policy: Advanced Accelerated Visuomotor Policies via Matched Distillation
Bofang Jia, Pengxiang Ding, Can Cui +5
Visual-motor policy learning has advanced with architectures like diffusion-based policies, known for modeling complex robotic trajectories. However, their prolonged inference time…