Related papers: A3VLM: Actionable Articulation-Aware Vision Langua…
Amid growing efforts to leverage advances in large language models (LLMs) and vision-language models (VLMs) for robotics, Vision-Language-Action (VLA) models have recently gained significant attention. By unifying vision, language, 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…
This paper introduces ACTLLM (Action Consistency Tuned Large Language Model), a novel approach for robot manipulation in dynamic environments. Traditional vision-based systems often struggle to learn visual representations that excel in…
The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…
Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…
To utilize Foundation Vision Language Models (VLMs) for robotic tasks and motion planning, the community has proposed different methods for injecting action components into VLMs and building the Vision-Language-Action models (VLAs). In this…
Vision-language models (VLMs) pretrained on large-scale multimodal datasets encode rich visual and linguistic knowledge, making them a strong foundation for robotics. Rather than training robotic policies from scratch, recent approaches…
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…
Recent advances in vision-language models (VLMs) have led to improved performance on tasks such as visual question answering and image captioning. Consequently, these models are now well-positioned to reason about the physical world,…
Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimodal understanding, yet traditional rule-based methods fail to scale or generalize in unstructured, novel environments. In recent…
Multimodal Large Language Models (MLLMs) have made impressive progress in connecting vision and language, but they still struggle with spatial understanding and viewpoint-aware reasoning. Recent efforts aim to augment the input…
The emergence of Vision Language Action (VLA) models marks a paradigm shift from traditional policy-based control to generalized robotics, reframing Vision Language Models (VLMs) from passive sequence generators into active agents for…
Vision-Language-Action (VLA) models have emerged as a promising framework for enabling generalist robots capable of perceiving, reasoning, and acting in the real world. These models usually build upon pretrained Vision-Language Models…
Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting…
Pre-trained general-purpose Vision-Language Models (VLM) hold the potential to enhance intuitive human-machine interactions due to their rich world knowledge and 2D object detection capabilities. However, VLMs for 3D coordinates detection…
Vision Language Models (VLMs) pretrained on Internet-scale vision-language data have demonstrated the potential to transfer their knowledge to robotic learning. However, the existing paradigm encounters three critical challenges: (1)…
Affordance understanding, the task of identifying actionable regions on 3D objects, plays a vital role in allowing robotic systems to engage with and operate within the physical world. Although Visual Language Models (VLMs) have excelled in…
Recent advances in robot manipulation have leveraged pre-trained vision-language models (VLMs) and explored integrating 3D spatial signals into these models for effective action prediction, giving rise to the promising…
Visual Robot Manipulation (VRM) aims to enable a robot to follow natural language instructions based on robot states and visual observations, and therefore requires costly multi-modal data. To compensate for the deficiency of robot data,…
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…