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Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set large language models (LLMs) learn during pretraining. Vision,…

Vision Language Action models (VLAs) trained with policy-based reinforcement learning (RL) encode complex behaviors without explicitly modeling environmental dynamics. However, it remains unclear whether VLAs implicitly learn world models,…

In recent years, multimodal large language models (MLLMs) have made significant strides by training on vast high-quality image-text datasets, enabling them to generally understand images well. However, the inherent difficulty in explicitly…

Instruction-following agents must ground language into their observation and action spaces. Learning to ground language is challenging, typically requiring domain-specific engineering or large quantities of human interaction data. To…

Reinforcement learning (RL) has proven highly effective in eliciting the reasoning capabilities of large language models (LLMs). Inspired by this success, recent studies have explored applying similar techniques to vision-language models…

Language model (LM) pre-training is useful in many language processing tasks. But can pre-trained LMs be further leveraged for more general machine learning problems? We propose an approach for using LMs to scaffold learning and…

Prompt learning represents a promising method for adapting pre-trained vision-language models (VLMs) to various downstream tasks by learning a set of text embeddings. One challenge inherent to these methods is the poor generalization…

Large Language Models (LLMs) encapsulate an extensive amount of world knowledge, and this has enabled their application in various domains to improve the performance of a variety of Natural Language Processing (NLP) tasks. This has also…

Humans can perceive and reason about spatial relationships from sequential visual observations, such as egocentric video streams. However, how pretrained models acquire such abilities, especially high-level reasoning, remains unclear. This…

In visuomotor policy learning, the control policy for the robotic agent is derived directly from visual inputs. The typical approach, where a policy and vision encoder are trained jointly from scratch, generalizes poorly to novel visual…

Reinforcement learning (RL) has emerged as a promising approach for eliciting reasoning chains before generating final answers. However, multimodal large language models (MLLMs) generate reasoning that lacks integration of visual…

Language models (LMs) and their extension, vision-language models (VLMs), have achieved remarkable performance across various tasks. However, they still struggle with complex reasoning tasks that require multimodal or multilingual…

Reinforcement learning (RL) has shown impressive results in sequential decision-making tasks. Meanwhile, Large Language Models (LLMs) and Vision-Language Models (VLMs) have emerged, exhibiting impressive capabilities in multimodal…

Latent Action Models (LAMs) have rapidly gained traction as an important component in the pre-training pipelines of leading Vision-Language-Action models. However, they fail when observations contain action-correlated distractors, often…

Recent research looks to harness the general knowledge and reasoning of large language models (LLMs) into agents that accomplish user-specified goals in interactive environments. Vision-language models (VLMs) extend LLMs to multi-modal data…

Continual learning enables pre-trained generative vision-language models (VLMs) to incorporate knowledge from new tasks without retraining data from previous ones. Recent methods update a visual projector to translate visual information for…

Vision language models (VLMs) exhibit vast knowledge of the physical world, including intuition of physical and spatial properties, affordances, and motion. With fine-tuning, VLMs can also natively produce robot trajectories. We demonstrate…

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…

Vision language models (VLMs) have achieved remarkable success in broad visual understanding, yet they remain challenged by object-centric reasoning on rare objects due to the scarcity of such instances in pretraining data. While prior…

One of the essential missions in the AI research community is to build an autonomous embodied agent that can achieve high-level performance across a wide spectrum of tasks. However, acquiring or manually designing rewards for all open-ended…