While generalist vision-language-action (VLA) models have enabled diverse open-world manipulation, real-world robotic assistance requires two critical capabilities they currently lack: personalization and reliable execution. First, executing an instruction like"make me a sandwich"requires grounding subtask decompositio...
Zixuan Wang, Yu-Qi Liu, Yu-Xin Chen et al.· 1 citation
Humanoid whole-body manipulation has advanced rapidly, enabling policies to coordinate locomotion, posture, bimanual interaction, and dexterous hand movements. Meanwhile, egocentric human videos provide diverse examples of everyday interactions across objects and scenes, offering scalable supervision without robot oper...
Chong-Yang Xu, Zhao Wu, Jin Chen et al.· 0 citations
This work proposes VLAct, a VLA-oriented VLM backbone trained on broad, heterogeneous, multi-embodiment robot data before task-specific fine-tuning, showing that representation-centric continued pre-training can deliver highly competitive performance under a modest compute budget and is an important independent axis of...
Sen-Qiao Yang, Cheng-Yao Wang, Yu-Xin Chen et al.· 8 citations
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