Research
Research
Research
Research
1,204+ open-access research outputs.
Vision-Language-Action (VLA) models have increasingly incorporated reasoning mechanisms for complex robotic manipulation. However, existing approaches share a critical limitation: whether employing ex…
Vision-Language-Action (VLA) models advance robotic control via strong visual-linguistic priors. However, existing VLAs predominantly frame pretraining as supervised behavior cloning, overlooking the …
Lutwak's affine quermassintegral theory is a foundational component of modern affine Brunn--Minkowski theory. Developed in the 1980s, it provides affine analogues of the classical quermassintegrals an…
We investigate task-success-oriented resource allocation for federated split learning (FSL) at the wireless edge. In this setting, the server must jointly determine bandwidth, transmit power, split-la…
World action models jointly predict future video and action during training, raising an open question about what role the future-prediction branch actually plays. A recent finding shows that this bran…
Flow-based vision-language-action (VLA) policies offer strong expressivity for action generation, but suffer from a fundamental inefficiency: multi-step inference is required to recover action structu…
In this article, we develop an efficient algorithm based on three special variants of the nonlinear conjugate gradient method, namely, the Polak--Ribiere--Polyak, Hestenes--Stiefel, and Liu--Story sch…
In behavioral cloning (BC), policy performance is fundamentally limited by demonstration data quality. Real-world datasets contain trajectories of varying quality due to operator skill differences, te…
Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scalable robotics policy …
Vision--Language--Action (VLA) models often use intermediate representations to connect multimodal inputs with continuous control, yet spatial guidance is often injected implicitly through latent feat…
Recent advances in Vision-Language-Action (VLA) models have opened new avenues for robot manipulation, yet existing methods exhibit limited efficiency and a lack of high-level knowledge and spatial aw…
World models derived from large-scale video generative pre-training have emerged as a promising paradigm for generalist robot policy learning. However, standard approaches often focus on high-fidelity…
Vision-Language-Action (VLA) models fail systematically on long-horizon manipulation tasks despite strong short-horizon performance. We show that this failure is not resolved by extending context leng…
Vision-Language-Action models (VLAs) achieve remarkable performance in sequential decision-making but remain fragile to subtle environmental shifts, such as small changes in object pose. We attribute …
Robust robotic manipulation requires not only predicting how the scene evolves over time, but also recognizing task-relevant objects in complex scenes. However, existing VLA models face two limitation…
Precision-critical manipulation requires both global trajectory organization and local execution correction, yet most vision-language-action (VLA) policies generate actions within a single unified spa…
Visual-Language-Action (VLA) models represent a paradigm shift in embodied AI, yet existing frameworks often struggle with imprecise spatial perception, suboptimal multimodal fusion, and instability i…
Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for building general-purpose robotic agents. However, the VLA landscape remains highly fragmented and complex: as exis…
Let $(V, G)$ be an orthogonal representation of a compact Lie group $G$ with nontrivial copolarity, and $\Sigma$ a fat section of $(V, G)$. If $E$ is a $G$-invariant compact convex set in $V$, then $P…
Despite their strong performance in embodied tasks, recent Vision-Language-Action (VLA) models remain highly fragile under multimodal perturbations, where visual corruption and linguistic noise jointl…
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