4 papers
AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models
Yutong Hu, Jan-Nico Zaech, Nikolay Nikolov +6
We propose a standalone autoregressive (AR) Action Expert that generates actions as a continuous causal sequence while conditioning on refreshable vision-language prefixes. In cont…
SPEAR-1: Scaling Beyond Robot Demonstrations via 3D Understanding
Nikolay Nikolov, Giuliano Albanese, Sombit Dey +4
Robotic Foundation Models (RFMs) hold great promise as generalist, end-to-end systems for robot control. Yet their ability to generalize across new environments, tasks, and embodim…
From Scan to Action: Leveraging Realistic Scans for Embodied Scene Understanding
Anna-Maria Halacheva, Jan-Nico Zaech, Sombit Dey +2
Real-world 3D scene-level scans offer realism and can enable better real-world generalizability for downstream applications. However, challenges such as data volume, diverse annota…
ReVLA: Reverting Visual Domain Limitation of Robotic Foundation Models
Sombit Dey, Jan-Nico Zaech, Nikolay Nikolov +2
Recent progress in large language models and access to large-scale robotic datasets has sparked a paradigm shift in robotics models transforming them into generalists able to adapt…