Current language-guided robotic manipulation systems often require low-level action-labeled datasets for imitation learning. While object-centric flow prediction methods mitigate this issue, they remain limited to scenarios involving rigid objects with clear displacement and minimal occlusion. In this work, we present Embodiment-Centric Flow (EC-Flow), a framework that directly learns manipulation from action-unlabeled videos by predicting embodiment-centric flow. Our key insight is that incorporating the embodiment's inherent kinematics significantly enhances generalization to versatile manipulation scenarios, including deformable object handling, occlusions, and non-object-displacement tasks. To connect the EC-Flow with language instructions and object interactions, we further introduce a goal-alignment module by jointly optimizing movement consistency and goal-image prediction. Moreover, translating EC-Flow to executable robot actions only requires a standard robot URDF (Unified Robot Description Format) file to specify kinematic constraints across joints, which makes it easy to use in practice. We validate EC-Flow on both simulation (Meta-World) and real-world tasks, demonstrating its state-of-the-art performance in occluded object handling (62% improvement), deformable object manipulation (45% improvement), and non-object-displacement tasks (80% improvement) than prior state-of-the-art object-centric flow methods. For more information, see our project website at https://ec-flow1.github.io .

Existing efforts to align multimodal large language models (MLLMs) with human preferences have only achieved progress in narrow areas, such as hallucination reduction, but remain limited in practical applicability and generalizability. To this end, we introduce **MM-RLHF**, a dataset containing **120k** fine-grained, human-annotated preference comparison pairs. This dataset represents a substantial advancement over existing resources, offering superior size, diversity, annotation granularity, and quality. Leveraging this dataset, we propose several key innovations to improve both the quality of reward models and the efficiency of alignment algorithms. Notably, we introduce the **Critique-Based Reward Model**, which generates critiques of model outputs before assigning scores, offering enhanced interpretability and more informative feedback compared to traditional scalar reward mechanisms. Additionally, we propose **Dynamic Reward Scaling**, a method that adjusts the loss weight of each sample according to the reward signal, thereby optimizing the use of high-quality comparison pairs. Our approach is rigorously evaluated across **10** distinct dimensions, encompassing **27** benchmarks, with results demonstrating significant and consistent improvements in model performance (Figure.1).

Recently, leveraging pre-trained vision-language models (VLMs) for building vision-language-action (VLA) models has emerged as a promising approach to effective robot manipulation learning. However, only few methods incorporate 3D signals into VLMs for action prediction, and they do not fully leverage the spatial structure inherent in 3D data, leading to low data efficiency. In this paper, we introduce a new paradigm for constructing 3D VLAs. Specifically, we first pre-train the VLM backbone to take 2D images as input and produce 2D heatmaps as output. Using this pre-trained VLM as the backbone, we then fine-tune the entire VLA model while maintaining alignment between inputs and outputs by: (1) projecting raw point cloud inputs into multi-view images, and (2) predicting heatmaps before generating the final action. Extensive experiments show that the resulting model, BridgeVLA, can learn 3D manipulation both efficiently and effectively. BridgeVLA outperforms state-of-the-art baselines across three simulation benchmarks. In RLBench, it improves the average success rate from 81.4\% to 88.2\%. In COLOSSEUM, it demonstrates significantly better performance in challenging generalization settings, boosting the average success rate from 56.7\% to 64.0\%. In GemBench, it surpasses all the comparing baseline methods in terms of average success rate. In real-robot experiments, BridgeVLA outperforms a state-of-the-art baseline method by 32\% on average. It generalizes robustly in multiple out-of-distribution settings, including visual disturbances and unseen instructions. Remarkably, it is able to achieve a success rate of 95.4\% on 10+ tasks with only 3 trajectories per task, while other VLA methods such as $\pi_{0}$ fail completely. Project Website: https://bridgevla.github.io/.