VP-VLA decouples high-level reasoning from low-level control in VLA models by rendering spatial anchors as visual prompts directly in the RGB observation space, outperforming end-to-end baselines.
Beyond sight: Finetuning generalist robot policies with heterogeneous sensors via language grounding.arXiv preprint arXiv:2501.04693
8 Pith papers cite this work. Polarity classification is still indexing.
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HTT learns shared representations across heterogeneous tactile sensors using a new paired dataset and pretraining objectives, enabling transfer to unseen sensors and tasks.
FADA is a three-stage Planner-IDM method that achieves few-shot domain adaptation for humanoid control by distilling an oracle policy then finetuning only the IDM on short target-domain rollouts via supervised learning.
ThermoAct integrates thermal imaging into VLA models via a VLM planner to enable robots to perceive physical properties like heat and improve safety over vision-only systems.
FAST applies discrete cosine transform to robot action sequences for efficient tokenization, enabling autoregressive VLAs to succeed on high-frequency dexterous tasks and scale to 10k hours of data while matching diffusion VLA performance with up to 5x faster training.
SentryFuse delivers modality-aware zero-shot pruning and sparse attention that improves accuracy by 12.7% on average and up to 18% under sensor dropout while cutting memory 28.2% and latency up to 1.63x across multimodal edge models.
The paper introduces World Action Models as a new paradigm unifying predictive world modeling with action generation in embodied foundation models and provides a taxonomy of existing approaches.
citing papers explorer
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VP-VLA: Visual Prompting as an Interface for Vision-Language-Action Models
VP-VLA decouples high-level reasoning from low-level control in VLA models by rendering spatial anchors as visual prompts directly in the RGB observation space, outperforming end-to-end baselines.
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Heterogeneous Tactile Transformer
HTT learns shared representations across heterogeneous tactile sensors using a new paired dataset and pretraining objectives, enabling transfer to unseen sensors and tasks.
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FADA: Few-Shot Domain Adaptation via Dynamics Alignment for Humanoid Control
FADA is a three-stage Planner-IDM method that achieves few-shot domain adaptation for humanoid control by distilling an oracle policy then finetuning only the IDM on short target-domain rollouts via supervised learning.
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ThermoAct:Thermal-Aware Vision-Language-Action Models for Robotic Perception and Decision-Making
ThermoAct integrates thermal imaging into VLA models via a VLM planner to enable robots to perceive physical properties like heat and improve safety over vision-only systems.
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FAST: Efficient Action Tokenization for Vision-Language-Action Models
FAST applies discrete cosine transform to robot action sequences for efficient tokenization, enabling autoregressive VLAs to succeed on high-frequency dexterous tasks and scale to 10k hours of data while matching diffusion VLA performance with up to 5x faster training.
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World Action Models: The Next Frontier in Embodied AI
The paper introduces World Action Models as a new paradigm unifying predictive world modeling with action generation in embodied foundation models and provides a taxonomy of existing approaches.
- Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation