4 accepted papers
This paper presents RynnVLA-001, a vision-language-action (VLA) model built upon large-scale video generative pretraining from human demonstrations. We propose a novel two-stage pretraining methodology. The first stage, Ego-Centric Video Generative Pretraining, trains an Image-to-Video model to pred…
A dexterous hand capable of generalizable grasping objects is fundamental for the development of general-purpose embodied AI. However, previous methods focus narrowly on low-level grasp stability metrics, neglecting affordance-aware positioning and human-like poses which are crucial for downstream m
Pre-training and fine-tuning framework has become the standard training paradigm for NLP tasks and is also widely used in industrial-level applications. However, there are still a limitation with this paradigm: simply fine-tuning with task-specific objectives tends to converge to local minima, resul…
The widespread adoption of reference-based automatic evaluation metrics such as ROUGE has promoted the development of document summarization. In this paper, we consider a new protocol for designing reference-based metrics that require the endorsement of source document(s). Following protocol, we pro…