Related papers: Voila-A: Aligning Vision-Language Models with User…

Vision-Language-Action (VLA) models have demonstrated strong potential for predicting semantic actions in navigation tasks, demonstrating the ability to reason over complex linguistic instructions and visual contexts. However, they are…

Aligning visual features with language embeddings is a key challenge in vision-language models (VLMs). The performance of such models hinges on having a good connector that maps visual features generated by a vision encoder to a shared…

In embodied AI, visual perception should be active rather than passive: the system must decide where to look and at what scale to sense to acquire maximally informative data under pixel and spatial budget constraints. Existing vision models…

Recent advancements in Vision-Language (VL) research have sparked new benchmarks for complex visual reasoning, challenging models' advanced reasoning ability. Traditional Vision-Language Models (VLMs) perform well in visual perception tasks…

Vision language models (VLMs) have shown remarkable capabilities in integrating linguistic and visual reasoning but remain fundamentally limited in understanding dynamic spatiotemporal interactions. Humans effortlessly track and reason…

We introduce ViLAM, a novel method for distilling vision-language reasoning from large Vision-Language Models (VLMs) into spatial attention maps for socially compliant robot navigation. Unlike traditional methods that rely on expert…

Vision-language models (VLMs) are commonly trained by directly inserting image tokens from a pretrained vision encoder into the text stream of a language model. This allows text and image information to fully attend to one another within…

Vision-Language-Action (VLA) models aim to predict robotic actions based on visual observations and language instructions. Existing approaches require fine-tuning pre-trained visionlanguage models (VLMs) as visual and language features are…

Recently, Vision-Language-Action (VLA) models have demonstrated strong performance on a range of robotic tasks. These models rely on multimodal inputs, with language instructions playing a crucial role -- not only in predicting actions, but…

Fine-tuning vision-language models (VLMs) on robot teleoperation data to create vision-language-action (VLA) models is a promising paradigm for training generalist policies, but it suffers from a fundamental tradeoff: learning to produce…

This paper presents a Gaze-Guided Audio-Visual Speech Enhancement (GG-AVSE) framework to address the cocktail party problem. A major challenge in conventional AVSE is identifying the listener's intended speaker in multi-talker environments.…

Vision-language-action (VLA) models have emerged as the next generation of models in robotics. However, despite leveraging powerful pre-trained Vision-Language Models (VLMs), existing end-to-end VLA systems often lose key capabilities…

The rapid development of Large Language Models (LLMs) creates an exciting potential for flexible, general knowledge-driven Human-Robot Interaction (HRI) systems for assistive robots. Existing HRI systems demonstrate great progress in…

Prevailing Vision-Language-Action Models (VLAs) for robotic manipulation are built upon vision-language backbones pretrained on large-scale, but disconnected static web data. As a result, despite improved semantic generalization, the policy…

Recent advancements in autonomous driving (AD) have explored the use of vision-language models (VLMs) within visual question answering (VQA) frameworks for direct driving decision-making. However, these approaches often depend on…

We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and effectiveness of…

Current autoregressive Vision Language Models (VLMs) usually rely on a large number of visual tokens to represent images, resulting in a need for more compute especially at inference time. To address this problem, we propose Mask-LLaVA, a…

As Vision-Language Models (VLMs) advance, human-centered Assistive Technologies (ATs) for helping People with Visual Impairments (PVIs) are evolving into generalists, capable of performing multiple tasks simultaneously. However,…

Vision-Language-Action (VLA) models typically map visual observations and linguistic instructions directly to control signals. This "black-box" mapping forces a single forward pass to simultaneously handle instruction interpretation,…

Gaze following requires both scene understanding and gaze reasoning to localize the gaze target of an in-scene person. Recently, vision foundation models (VFMs) have demonstrated strong performance on this task, enabling simpler…