4 papers
FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation
Ruicheng Li, Qixiu Li, Ruichun Ma +8
Vision-language-action (VLA) models have achieved impressive generalization in robotic manipulation, and recent memory-augmented VLAs have relaxed the Markovian assumption by condi…
HiSpatial: Taming Hierarchical 3D Spatial Understanding in Vision-Language Models
Huizhi Liang, Yichao Shen, Yu Deng +5
Achieving human-like spatial intelligence for vision-language models (VLMs) requires inferring 3D structures from 2D observations, recognizing object properties and relations in 3D…
Scalable Vision-Language-Action Model Pretraining for Robotic Manipulation with Real-Life Human Activity Videos
Qixiu Li, Yu Deng, Yaobo Liang +14
This paper presents a novel approach for pretraining robotic manipulation Vision-Language-Action (VLA) models using a large corpus of unscripted real-life video recordings of human…
Seeing Across Views: Benchmarking Spatial Reasoning of Vision-Language Models in Robotic Scenes
Zhiyuan Feng, Zhaolu Kang, Qijie Wang +16
Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent V…