8 papers
DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control
Junjie Wen, Yichen Zhu, Jinming Li +3
Enabling robots to perform diverse tasks across varied environments is a central challenge in robot learning. While vision-language-action (VLA) models have shown promise for gener…
Diffusion-VLA: Generalizable and Interpretable Robot Foundation Model via Self-Generated Reasoning
Junjie Wen, Minjie Zhu, Yichen Zhu +8
In this paper, we present DiffusionVLA, a novel framework that seamlessly combines the autoregression model with the diffusion model for learning visuomotor policy. Central to our…
ChatVLA-2: Vision-Language-Action Model with Open-World Embodied Reasoning from Pretrained Knowledge
Zhongyi Zhou, Yichen Zhu, Junjie Wen +2
Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), exist…
WorldEval: World Model as Real-World Robot Policies Evaluator
Yaxuan Li, Yichen Zhu, Junjie Wen +2
The field of robotics has made significant strides toward developing generalist robot manipulation policies. However, evaluating these policies in real-world scenarios remains time…
Efficient Feature Fusion for UAV Object Detection
Xudong Wang, Yaxin Peng, Chaomin Shen
Object detection in unmanned aerial vehicle (UAV) remote sensing images poses significant challenges due to unstable image quality, small object sizes, complex backgrounds, and env…
ObjectVLA: End-to-End Open-World Object Manipulation Without Demonstration
Minjie Zhu, Yichen Zhu, Jinming Li +6
Imitation learning has proven to be highly effective in teaching robots dexterous manipulation skills. However, it typically relies on large amounts of human demonstration data, wh…