7. 参考文献 [1] Brohan, Anthony, et al. "Rt-2: Vision-language-action models transfer web knowledge to robotic control."arXiv preprint arXiv:2307.15818(2023). [2] Kim, Moo Jin, et al. "Openvla: An open-source vision-language-action model."arXiv preprint arXiv:2406.09246(2024). [3...
对于images,learned compression--输入的图像通过预训练的vision encoder转化为soft tokens,再通过vector-quantizing autoencoder转化为离散的token,从而来训练transformer Vision-language-action models 最近的多项工作在越来越大的robot learning datasets上进行训练 得到generalist robot policy VLA是微调了VLM--VLM有几B的...
Core Idea: The paper introduces an Optimized Fine-Tuning (OFT) recipe for adapting Vision-Language-Action models to new robot setups, combining parallel decoding, action chunking, and continuous action representation with L1 regression to dramatically improve both inference speed and task performance. ...
RT-2-Vision-Language-Action-Models-Transfer-Web-Knowledge-to-Robotic-Control 57:29 ViLT-Vision-Language-Transformer_without_convolution_and_region_supervision(1) 32:58 ViLT-Vision-Language-Transformer_without_convolution_and_region_supervision(2) 43:55 Open X-Embodiment-Robotic Learning Datasets an...
Brohan, A., et al.: RT-2: vision-language-action models transfer web knowledge to robotic control. arXiv preprintarXiv:2307.15818(2023) Brohan, A., et al.: RT-1: robotics transformer for real-world control at scale (2023) Google Scholar ...
ShowUI Open-source, End-to-end, Lightweight, Vision-Language-Action model for GUI Agent & Computer Use. ShowUI 是一款开源的、端到端、轻量级的视觉-语言-动作模型,专为 GUI 智能体设计。 📑Paper| 🤗Hugging Models| 🤗Spaces Demo| 📝Slides| 🕹️OpenBayes贝式计算 Demo ...
Recent vision-language-action models (VLAs) build upon pretrained vision-language models and leverage diverse robot datasets to demonstrate strong task execution, language following ability, and semantic generalization. Despite these successes, VLAs struggle with novel robot setups and require fine-tuning...
Vision-language-action (VLA) models trained on large-scale internet data and robot demonstrations have the potential to serve as generalist robot policies. However, despite their large-scale training, VLAs are often brittle to task-irrelevant visual details such as distractor objects or background co...
A simple and scalable codebase for training and fine-tuning vision-language-action models (VLAs) for generalist robotic manipulation: Different Dataset Mixtures: We natively support arbitrary datasets in RLDS format, including arbitrary mixtures of data from theOpen X-Embodiment Dataset. ...
Navigation experiments across web Mind2Web, mobile AITW, and online MiniWob environments further underscore the effectiveness and potential of our model in advancing GUI visual agents. The models are available at https://github.com/showlab/ShowUI. PDF Abstract ...