4 papers
Mixture of Horizons in Action Chunking
Dong Jing, Gang Wang, Jiaqi Liu +7
Vision-language-action (VLA) models have shown remarkable capabilities in robotic manipulation, but their performance is sensitive to the used during…
DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo
Hanwen Wang, Weizhi Zhao, Xiangyu Wang +11
Achieving human-level manipulation requires dexterous robotic hands capable of complex object interactions. Advancing such capabilities further demands standardized benchmarks for…
VLA-IAP: Training-Free Visual Token Pruning via Interaction Alignment for Vision-Language-Action Models
Jintao Cheng, Haozhe Wang, Weibin Li +7
Vision-Language-Action (VLA) models have rapidly advanced embodied intelligence, enabling robots to execute complex, instruction-driven tasks. However, as model capacity and visual…
Rethinking Intermediate Representation for VLM-based Robot Manipulation
Weiliang Tang, Jialin Gao, Jia-Hui Pan +6
Vision-Language Model (VLM) is an important component to enable robust robot manipulation. Yet, using it to translate human instructions into an action-resolvable intermediate repr…