Related papers: GVCCI: Lifelong Learning of Visual Grounding for L…

Current visual grounding models are either based on a Multimodal Large Language Model (MLLM) that performs auto-regressive decoding, which is slow and risks hallucinations, or on re-aligning an LLM with vision features to learn new special…

Crop monitoring is essential for precision agriculture, but current systems lack high-level reasoning. We introduce a novel, modular framework that uses a Visual Language Model (VLM) to guide robotic task planning, interleaving input…

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in…

In this paper, we propose a transformer based approach for visual grounding. Unlike previous proposal-and-rank frameworks that rely heavily on pretrained object detectors or proposal-free frameworks that upgrade an off-the-shelf one-stage…

Robots trained via Reinforcement Learning (RL) or Imitation Learning (IL) often adapt slowly to new tasks, whereas recent Large Language Models (LLMs) and Vision-Language Models (VLMs) promise knowledge-rich planning from minimal data.…

Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to higher-level semantics such as human instructions. To…

Large Vision Language Models (LVLMs) have achieved remarkable progress, yet they often suffer from language bias, producing answers without relying on visual evidence. While prior work attempts to mitigate this issue through decoding…

Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…

Robotics tasks are highly compositional by nature. For example, to perform a high-level task like cleaning the table a robot must employ low-level capabilities of moving the effectors to the objects on the table, pick them up and then move…

Robots interacting with humans through natural language can unlock numerous applications such as Referring Grasp Synthesis (RGS). Given a text query, RGS determines a stable grasp pose to manipulate the referred object in the robot's…

Pre-trained Vision-Language Models (VLMs) require Continual Learning (CL) to efficiently update their knowledge and adapt to various downstream tasks without retraining from scratch. However, for VLMs, in addition to the loss of knowledge…

Vision-Language Foundation Models (VLFMs) have made remarkable progress on various multimodal tasks, such as image captioning, image-text retrieval, visual question answering, and visual grounding. However, most methods rely on training…

It is critical for vision-language models (VLMs) to comprehensively understand visual, temporal, and textual cues. However, despite rapid progress in multimodal modeling, video understanding performance still lags behind text-based…

Instruction following is crucial in contemporary LLM. However, when extended to multimodal setting, it often suffers from misalignment between specific textual instruction and targeted local region of an image. To achieve more accurate and…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Goal-conditioned reinforcement learning (GCRL) allows agents to learn diverse objectives using a unified policy. The success of GCRL, however, is contingent on the choice of goal representation. In this work, we propose a mask-based goal…

General-purposed embodied agents are designed to understand the users' natural instructions or intentions and act precisely to complete universal tasks. Recently, methods based on foundation models especially Vision-Language-Action models…

Vision Language Models (VLMs) perform well on standard video tasks but struggle with physics-related reasoning involving motion dynamics and spatial interactions. We present a novel approach to address this gap by translating physical-world…

Vision-Language Navigation in Continuous Environments (VLNCE), where an agent follows instructions and moves freely to reach a destination, is a key research problem in embodied AI. However, most existing approaches are sensitive to…