Related papers: LLARVA: Vision-Action Instruction Tuning Enhances …
Vision-language-action (VLA) models extend vision-language models (VLM) by integrating action generation modules for robotic manipulation. Leveraging the strengths of VLM in vision perception and instruction understanding, VLA models…
Instruction-tuned large language models (LLMs) have demonstrated promising zero-shot generalization capabilities across various downstream tasks. Recent research has introduced multimodal capabilities to LLMs by integrating independently…
Recent advances in vision-language models have shown notable generalization in broad tasks through visual instruction tuning. However, bridging the gap between the pre-trained vision encoder and the large language models (LLMs) becomes the…
We present ImageBind-LLM, a multi-modality instruction tuning method of large language models (LLMs) via ImageBind. Existing works mainly focus on language and image instruction tuning, different from which, our ImageBind-LLM can respond to…
Proprietary Large Language Models (LLMs), such as ChatGPT, have garnered significant attention due to their exceptional capabilities in handling a diverse range of tasks. Recent studies demonstrate that open-sourced smaller foundational…
Vision-Language-Action (VLA) models are increasingly expected to not only complete robot tasks, but also follow human instructions about how those tasks should be executed. However, existing robot datasets usually pair trajectories with…
Recent studies have successfully integrated large vision-language models (VLMs) into low-level robotic control by supervised fine-tuning (SFT) with expert robotic datasets, resulting in what we term vision-language-action (VLA) models.…
Vision-Language-Action (VLA) models widely adopt pretrained Vision-Language Models (VLMs) as policy backbones, yet it remains unclear what kind of pretrained VLM representation is useful as a VLA initialization. In this paper, we study VLA…
Accurate prediction of human behavior is crucial for AI systems to effectively support real-world applications, such as autonomous robots anticipating and assisting with human tasks. Real-world scenarios frequently present challenges such…
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…
Despite the promising progress in multi-modal tasks, current large multi-modal models (LMMs) are prone to hallucinating inconsistent descriptions with respect to the associated image and human instructions. This paper addresses this issue…
Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…
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…
Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…
Recently, large multimodal models (LMMs) have achieved significant advancements. When dealing with high-resolution images, dominant LMMs typically divide them into multiple local images and a global image, leading to a large number of…
In the realm of Sign Language Translation (SLT), reliance on costly gloss-annotated datasets has posed a significant barrier. Recent advancements in gloss-free SLT methods have shown promise, yet they often largely lag behind gloss-based…
Complex manipulation tasks often require robots with complementary capabilities to collaborate. We introduce a benchmark for LanguagE-Conditioned Multi-robot MAnipulation (LEMMA) focused on task allocation and long-horizon object…
Instruction tuning -- supervised fine-tuning using instruction-response pairs -- is a key step in making pre-trained large language models (LLMs) instructable. Meanwhile, LLMs perform multitask learning during their pre-training, acquiring…
Vision-Language Action (VLAs) models promise to extend the remarkable success of vision-language models (VLMs) to robotics. Yet, unlike VLMs in the vision-language domain, VLAs for robotics require finetuning to contend with varying…
Vision-Language-Action (VLA) models have gained popularity for learning robotic manipulation tasks that follow language instructions. State-of-the-art VLAs, such as OpenVLA and $\pi_{0}$, were trained on large-scale, manually labeled action…