4 papers
How Do VLAs Effectively Inherit from VLMs?
Chuheng Zhang, Rushuai Yang, Xiaoyu Chen +4
Vision-language-action (VLA) models hold the promise to attain generalizable embodied control. To achieve this, a pervasive paradigm is to leverage the rich vision-semantic priors…
PIG-Nav: Key Insights for Pretrained Image Goal Navigation Models
Jiansong Wan, Chengming Zhou, Jinkua Liu +14
Recent studies have explored pretrained (foundation) models for vision-based robotic navigation, aiming to achieve generalizable navigation and positive transfer across diverse env…
villa-X: Enhancing Latent Action Modeling in Vision-Language-Action Models
Xiaoyu Chen, Hangxing Wei, Pushi Zhang +9
Vision-Language-Action (VLA) models have emerged as a popular paradigm for learning robot manipulation policies that can follow language instructions and generalize to novel scenar…
What Do Latent Action Models Actually Learn?
Chuheng Zhang, Tim Pearce, Pushi Zhang +5
Latent action models (LAMs) aim to learn action-relevant changes from unlabeled videos by compressing changes between frames as latents. However, differences between video frames c…