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Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities by integrating visual and textual inputs, yet modality alignment remains one of the most challenging aspects. Current MLLMs typically rely on simple adapter…

Large-scale visual-language pre-trained models have achieved significant success in various video tasks. However, most existing methods follow an "adapt then align" paradigm, which adapts pre-trained image encoders to model video-level…

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…

Vision-and-Language Navigation (VLN) requires grounding instructions, such as "turn right and stop at the door", to routes in a visual environment. The actual grounding can connect language to the environment through multiple modalities,…

Vision-Language Pre-training (VLP) has achieved impressive performance on various cross-modal downstream tasks. However, most existing methods can only learn from aligned image-caption data and rely heavily on expensive regional features,…

Recent vision-language-action (VLA) systems have demonstrated strong capabilities in embodied manipulation. However, most existing VLA policies rely on limited observation windows and end-to-end action prediction, which makes them brittle…

Autonomous drones capable of interpreting and executing high-level language instructions in unstructured environments remain a long-standing goal. Yet existing approaches are constrained by their dependence on hand-crafted skills, extensive…

Recent vision-language-action (VLA) models rely on 2D inputs, lacking integration with the broader realm of the 3D physical world. Furthermore, they perform action prediction by learning a direct mapping from perception to action,…

Vision-Language-Action (VLA) models have emerged as a generalist robotic agent. However, existing VLAs are hindered by excessive parameter scales, prohibitive pre-training requirements, and limited applicability to diverse embodiments. To…

In Model Predictive Control (MPC), world models predict the future outcomes of various action proposals, which are then scored to guide the selection of the optimal action. For visuomotor MPC, the score function is a distance metric between…

Vision-and-Language Navigation (VLN) is a task where an agent navigates in an embodied indoor environment under human instructions. Previous works ignore the distribution of sample difficulty and we argue that this potentially degrade their…

Understanding how Vision-Language-Action (VLA) models transform multimodal knowledge into embodied control remains an open challenge. We present VLA-Trace, a progressive diagnostic framework that analyzes VLA models through a unified…

This paper addresses the challenge of fine-grained alignment in Vision-and-Language Navigation (VLN) tasks, where robots navigate realistic 3D environments based on natural language instructions. Current approaches use contrastive learning…

Achieving versatile robot locomotion requires motor skills which can adapt to previously unseen situations. We propose a Multi-Expert Learning Architecture (MELA) that learns to generate adaptive skills from a group of representative expert…

Recent advances in Vision-Language-Action (VLA) models have enabled robotic agents to integrate multimodal understanding with action execution. However, our empirical analysis reveals that current VLAs struggle to allocate visual attention…

VLA models have shown promising potential in embodied navigation by unifying perception and planning while inheriting the strong generalization abilities of large VLMs. However, most existing VLA models rely on reactive mappings directly…

Vision language pre-training aims to learn alignments between vision and language from a large amount of data. Most existing methods only learn image-text alignments. Some others utilize pre-trained object detectors to leverage vision…

Recently proposed fine-grained 3D visual grounding is an essential and challenging task, whose goal is to identify the 3D object referred by a natural language sentence from other distractive objects of the same category. Existing works…

Recently, Multimodal Large Language Models (MLLMs) have demonstrated impressive performance on instruction-following tasks by integrating pretrained visual encoders with large language models (LLMs). However, existing approaches often…

Vision-Language-Action (VLA) models pre-trained on large, diverse datasets show remarkable potential for general-purpose robotic manipulation. However, a primary bottleneck remains in adapting these models to downstream tasks, especially…