4 papers
Data Pyramid for Embodied Manipulation: A Survey
Yifan Ye, Yankai Fu, Yaoxu Lv +26
Multimodal foundation models learned to see and to speak by consuming the whole internet. Embodied agents admit no such shortcut, since they require data that couple observations w…
UniTacVLA: Unified Tactile Understanding and Prediction in Vision Language Action Models
Xidong Zhang, Yichi Zhang, Jiaxin Shi +5
Vision-language-action (VLA) models have achieved strong performance in many robotic manipulation tasks, yet remain limited in contact-rich dexterous manipulation. To overcome this…
3DThinkVLA: Endowing Vision-Language-Action Models with Latent 3D Priors via 3D-Thinking-Guided Co-training
Jiaxin Shi, Xidong Zhang, Fucai Zhu +3
We propose a 3D-thinking-guided co-training framework that enables vision-language-action (VLA) models to perform 3D spatial reasoning implicitly during action prediction. Our core…
FocusVLA: Focused Visual Utilization for Vision-Language-Action Models
Yichi Zhang, Weihao Yuan, Yizhuo Zhang +2
Vision-Language-Action (VLA) models improve action generation by conditioning policies on rich vision-language information. However, current auto-regressive policies are constraine…