MANIPULATION
VisualThink-VLA：用于高效低延迟视觉-语言-动作策略的视觉中间推理
Mingjian Gao, Wenqiao Zhang, Yuqian Yuan, Yang Dai, Binhe Yu, Zheqi Lv, Haoyu Zheng, Jiaqi Zhu, Zhiqi Ge, Zixuan Wan, Siliang Tang, Yueting Zhuang
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出VisualThink-VLA框架，通过紧凑的视觉证据接口引导动作预测，避免文本推理的延迟和干扰。采用选择性路由机制学习视觉证据令牌，实现低延迟推理并保持高容量专业化，在多个基准和真实机器人上验证了有效性。
关键词
vision-language-actionvisual reasoninglow-latencyembodied controlselective routing
相关论文
MANIPULATION
📊 7,533 引用
Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
Oussama Khatib
1986
MANIPULATION
📊 6,720 引用
A Mathematical Introduction to Robotic Manipulation
Richard M. Murray, Zexiang Li, Shankar Sastry
2017
MANIPULATION
📊 3,821 引用
Robot dynamics and control
Mark W. Spong
1989
MANIPULATION
📊 3,499 引用
A tutorial on visual servo control
Seth Hutchinson, Gregory D. Hager, Peter Corke
1996