Related papers: Video Language Planning
Vision-language-action (VLA) models provide strong action priors for robotic manipulation, but their reactive behavior can fail under distribution shift and long-horizon task structure. Recent VLA-guided planning methods improve execution…
This paper presents a unified Vision-Language Pre-training (VLP) model. The model is unified in that (1) it can be fine-tuned for either vision-language generation (e.g., image captioning) or understanding (e.g., visual question answering)…
Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural…
Video diffusion models (VDMs) have advanced significantly in recent years, enabling the generation of highly realistic videos and drawing the attention of the community in their potential as world simulators. However, despite their…
Vision-and-language models (VLMs) have been increasingly explored in the medical domain, particularly following the success of CLIP in general domain. However, unlike the relatively straightforward pairing of 2D images and text, curating…
Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language…
The use of Large Language Models (LLMs) for generating Behavior Trees (BTs) has recently gained attention in the robotics community, yet remains in its early stages of development. In this paper, we propose a novel framework that leverages…
Multimodal Vision-Language Models (VLMs) enable powerful applications from their fused understanding of images and language, but many perform poorly on UI tasks due to the lack of UI training data. In this paper, we adapt a recipe for…
Large Language Models (LLMs) and Vision Language Models (VLMs) have become popular tools for embodied high-level planning. However, their deployment in black-box settings often leads to unpredictable or costly errors. To harness their…
Real-world vision-language applications demand varying levels of perceptual granularity. However, most existing visual large language models (VLLMs), such as LLaVA, pre-assume a fixed resolution for downstream tasks, which leads to subpar…
Video prediction models combined with planning algorithms have shown promise in enabling robots to learn to perform many vision-based tasks through only self-supervision, reaching novel goals in cluttered scenes with unseen objects.…
Reinforcement learning based post-training paradigms for Video Large Language Models (VideoLLMs) have achieved significant success by optimizing for visual-semantic tasks such as captioning or VideoQA. However, while these approaches…
Large Language Models (LLMs) have been shown to act like planners that can decompose high-level instructions into a sequence of executable instructions. However, current LLM-based planners are only able to operate with a fixed set of…
Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…
Vision Language Models exhibit impressive performance for various tasks, yet they often lack the sophisticated situational reasoning required for complex decision-making. This paper shows that VLMs can achieve surprisingly strong…
English-based Vision-Language Pre-training (VLP) has achieved great success in various downstream tasks. Some efforts have been taken to generalize this success to non-English languages through Multilingual Vision-Language Pre-training…
Recent advancements in Large Language Models (LLMs) and their multimodal extensions (MLLMs) have substantially enhanced machine reasoning across diverse tasks. However, these models predominantly rely on pure text as the medium for both…
Recently, Visual Programming (VP) based on large language models (LLMs) has rapidly developed and demonstrated significant potential in complex Visual Reasoning (VR) tasks. Previous works to enhance VP have primarily focused on improving…
In the realm of data-driven AI technology, the application of open-source large language models (LLMs) in robotic task planning represents a significant milestone. Recent robotic task planning methods based on open-source LLMs typically…