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cs.RO2025
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…
cs.RO2025
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…
cs.RO2024
IGOR: Image-GOal Representations are the Atomic Control Units for Foundation Models in Embodied AI
Xiaoyu Chen, Junliang Guo, Tianyu He +5
We introduce Image-GOal Representations (IGOR), aiming to learn a unified, semantically consistent action space across human and various robots. Through this unified latent action…