Cover Image

Astra: Efficient Transformer Architecture and Contrastive Dynamics Learning for Embodied Instruction Following

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Ma, Yueen, Chi, Dafeng, Wu, Shiguang, Liu, Yuecheng, Zhuang, Yuzheng, King, Irwin
Format:	Preprint
Published:	2024
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

3D-MoE: A Mixture-of-Experts Multi-modal LLM for 3D Vision and Pose Diffusion via Rectified Flow
by: Ma, Yueen, et al.
Published: (2025)

A Survey on Vision-Language-Action Models for Embodied AI
by: Ma, Yueen, et al.
Published: (2024)

VOLTA: Improving Generative Diversity by Variational Mutual Information Maximizing Autoencoder
by: Ma, Yueen, et al.
Published: (2023)

OmniEVA: Embodied Versatile Planner via Task-Adaptive 3D-Grounded and Embodiment-aware Reasoning
by: Liu, Yuecheng, et al.
Published: (2025)

SpatialCoT: Advancing Spatial Reasoning through Coordinate Alignment and Chain-of-Thought for Embodied Task Planning
by: Liu, Yuecheng, et al.
Published: (2025)

EVLP:Learning Unified Embodied Vision-Language Planner with Reinforced Supervised Fine-Tuning
by: Cai, Xinyan, et al.
Published: (2025)

Embodied Instruction Following in Unknown Environments
by: Wu, Zhenyu, et al.
Published: (2024)

SCALE: Self-Correcting Visual Navigation for Mobile Robots via Anti-Novelty Estimation
by: Chen, Chang, et al.
Published: (2024)

Articulated Object Manipulation with Coarse-to-fine Affordance for Mitigating the Effect of Point Cloud Noise
by: Ling, Suhan, et al.
Published: (2024)

AutoLayout: Closed-Loop Layout Synthesis via Slow-Fast Collaborative Reasoning
by: Chen, Weixing, et al.
Published: (2025)

Astra: Toward General-Purpose Mobile Robots via Hierarchical Multimodal Learning
by: Chen, Sheng, et al.
Published: (2025)

ReALFRED: An Embodied Instruction Following Benchmark in Photo-Realistic Environments
by: Kim, Taewoong, et al.
Published: (2024)

Hindsight Planner: A Closed-Loop Few-Shot Planner for Embodied Instruction Following
by: Yang, Yuxiao, et al.
Published: (2024)

ET-Plan-Bench: Embodied Task-level Planning Benchmark Towards Spatial-Temporal Cognition with Foundation Models
by: Zhang, Lingfeng, et al.
Published: (2024)

Prompter: Utilizing Large Language Model Prompting for a Data Efficient Embodied Instruction Following
by: Inoue, Yuki, et al.
Published: (2022)

Context-Aware Planning and Environment-Aware Memory for Instruction Following Embodied Agents
by: Kim, Byeonghwi, et al.
Published: (2023)

Embodied Arena: A Comprehensive, Unified, and Evolving Evaluation Platform for Embodied AI
by: Ni, Fei, et al.
Published: (2025)

AstraNav-Memory: Contexts Compression for Long Memory
by: Ren, Botao, et al.
Published: (2025)

Transforming Monolithic Foundation Models into Embodied Multi-Agent Architectures for Human-Robot Collaboration
by: Sun, Nan, et al.
Published: (2025)

EchoVLA: Synergistic Declarative Memory for VLA-Driven Mobile Manipulation
by: Lin, Min, et al.
Published: (2025)

Learning Instruction-Guided Manipulation Affordance via Large Models for Embodied Robotic Tasks
by: Li, Dayou, et al.
Published: (2024)

DynSyn: Dynamical Synergistic Representation for Efficient Learning and Control in Overactuated Embodied Systems
by: He, Kaibo, et al.
Published: (2024)

AGENTSAFE: Benchmarking the Safety of Embodied Agents on Hazardous Instructions
by: Ying, Zonghao, et al.
Published: (2025)

LookPlanGraph: Embodied Instruction Following Method with VLM Graph Augmentation
by: Onishchenko, Anatoly O., et al.
Published: (2025)

Mem2Ego: Empowering Vision-Language Models with Global-to-Ego Memory for Long-Horizon Embodied Navigation
by: Zhang, Lingfeng, et al.
Published: (2025)

Pragmatic Embodied Spoken Instruction Following in Human-Robot Collaboration with Theory of Mind
by: Ying, Lance, et al.
Published: (2024)

Dual-Granularity Contrastive Reward via Generated Episodic Guidance for Efficient Embodied RL
by: Liu, Xin, et al.
Published: (2026)

Analytic Task Scheduler: Recursive Least Squares Based Method for Continual Learning in Embodied Foundation Models
by: Xie, Lipei, et al.
Published: (2025)

Efficient Policy Adaptation with Contrastive Prompt Ensemble for Embodied Agents
by: Choi, Wonje, et al.
Published: (2024)

Large Model Empowered Embodied AI: A Survey on Decision-Making and Embodied Learning
by: Liang, Wenlong, et al.
Published: (2025)

Unified Embodied VLM Reasoning with Robotic Action via Autoregressive Discretized Pre-training
by: Liu, Yi, et al.
Published: (2025)

Training Strategies for Efficient Embodied Reasoning
by: Chen, William, et al.
Published: (2025)

LERa: Replanning with Visual Feedback in Instruction Following
by: Pchelintsev, Svyatoslav, et al.
Published: (2025)

AIR-Embodied: An Efficient Active 3DGS-based Interaction and Reconstruction Framework with Embodied Large Language Model
by: Qi, Zhenghao, et al.
Published: (2024)

DaDu-Corki: Algorithm-Architecture Co-Design for Embodied AI-powered Robotic Manipulation
by: Huang, Yiyang, et al.
Published: (2024)

Lifelong Embodied Navigation Learning
by: Wang, Xudong, et al.
Published: (2026)

Grasp What You Want: Embodied Dexterous Grasping System Driven by Your Voice
by: Li, Junliang, et al.
Published: (2024)

SKIP: Sparse Keyframe Interpolation Paradigm for Efficient Embodied World Models
by: He, Ziheng, et al.
Published: (2026)

Embodied Self-Supervised Learning (EMSSL) with Sampling and Training Coordination for Robot Arm Inverse Kinematics Model Learning
by: Weiming, Qu, et al.
Published: (2023)

Online Continual Learning For Interactive Instruction Following Agents
by: Kim, Byeonghwi, et al.
Published: (2024)