arXiv:2606. 30266v1 Announce Type: cross Abstract: Motion-language agents must possess the bidirectional capability to both understand human movement (motion-to-text, M2T) and generate it from natural language (text-to-motion, T2M).
By Bertram Taetz, Hugo Albuquerque Cosme da Silva, Gabriele Bleser-Taetz
arXiv:2606. 03598v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models have achieved remarkable success in language-conditioned robotic manipulation.
By Ziyang Chen, Shaoguang Wang, Weiyu Guo, Qianyi Cai, He Zhang, Pengteng Li, Yiren Zhao, Yandong Guo
arXiv:2607. 02466v1 Announce Type: cross Abstract: Vision-Language-Action (VLA) models are fundamentally bottlenecked by the scarcity of expert demonstrations -- triplets of observations, instructions, and actions that are costly to collect at scale.
By Junhao Shi, Siyin Wang, Xiaopeng Yu, Li Ji, Jingjing Gong, Xipeng Qiu
The paper introduces SAME (Stabilized Mixture-of-Experts) to address challenges in Multimodal Continual Instruction Tuning (MCIT) for large language models. SAME mitigates router drift by decomposing routing dynamics into orthogonal subspaces and updating only task-relevant directions, while preventing expert drift through curvature‑aware scaling that uses historical input covariance without rehearsal. The method also employs adaptive expert activation to freeze selected experts during training, reducing redundant computation and cross‑task interference, and demonstrates state‑of‑the‑art performance on a new long‑task‑sequence benchmark.
By Zhen-Hao Xie, Jun-Tao Tang, Yu-Cheng Shi, Han-Jia Ye, De-Chuan Zhan, Da-Wei Zhou
arXiv:2608. 19589v1 Announce Type: cross Abstract: Pretrained Vision-Language-Action models provide a strong foundation for robot learning, but sequentially adapting them to diverse skills can perturb the representations and velocity mappings used by previous skills, leading to catastrophic forgetting.
By Jiaqi Wang, Zhou Fang, Qiongfeng Shi, Yi Zhou
RIFAR is a new continual learning method for robots that uses reliability screening and drift-aware replay to mitigate forgetting while keeping storage low. It reconstructs past trajectories from short demonstration prefixes and employs a frozen inverse-dynamics model to verify action‑visual consistency. In experiments on LIBERO suites and real‑world tasks, RIFAR outperforms previous generative replay approaches, achieving high performance with only a small fraction of stored steps.
By Zirong Song, Zheng Lu, Haoran Liao, Wanqi Zhong, Yunhe Ni, Lijie Wang, Xiuying Chen