Related papers: LLARVA: Vision-Action Instruction Tuning Enhances …

Multimodal Large Language Models (MLLMs) have significantly improved performance across various image-language applications. Recently, there has been a growing interest in adapting image pre-trained MLLMs for video-related tasks. However,…

Fine-tuning pre-trained large language models (LLMs) on a diverse array of tasks has become a common approach for building models that can solve various natural language processing (NLP) tasks. However, where and to what extent these models…

Robots operating in shared human environments must not only navigate, interact, and detect their surroundings, they must also interpret and respond to dynamic, and often unpredictable, human behaviours. Although recent advances have shown…

Going beyond mere fine-tuning of vision-language models (VLMs), learnable prompt tuning has emerged as a promising, resource-efficient alternative. Despite their potential, effectively learning prompts faces the following challenges: (i)…

$ $The synergy of language and vision models has given rise to Large Language and Vision Assistant models (LLVAs), designed to engage users in rich conversational experiences intertwined with image-based queries. These comprehensive…

With the rapid advancement of multimodal information retrieval, increasingly complex retrieval tasks have emerged. Existing methods predominately rely on task-specific fine-tuning of vision-language models, often those trained with…

Visual question answering (VQA) is crucial for promoting surgical education. In practice, the needs of trainees are constantly evolving, such as learning more surgical types, adapting to different robots, and learning new surgical…

Seeing clearly with high resolution is a foundation of Large Multimodal Models (LMMs), which has been proven to be vital for visual perception and reasoning. Existing works usually employ a straightforward resolution upscaling method, where…

Generalization remains a core challenge in embodied AI, as robots must adapt to diverse environments. While OpenVLA represents the State-of-the-Art (SOTA) in Vision-Language-Action models by leveraging large-scale pre-training, its…

Humans act with context and intention, with reasoning playing a central role. While internet-scale data has enabled broad reasoning capabilities in AI systems, grounding these abilities in physical action remains a major challenge. We…

Multi-modal large language models (MLLMs) are expected to support multi-turn queries of interchanging image and text modalities in production. However, the current MLLMs trained with visual-question-answering (VQA) datasets could suffer…

Despite the rapid development of video Large Language Models (LLMs), a comprehensive evaluation is still absent. In this paper, we introduce a unified evaluation that encompasses multiple video tasks, including captioning, question and…

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…

A generalist robot should perform effectively across various environments. However, most existing approaches heavily rely on scaling action-annotated data to enhance their capabilities. Consequently, they are often limited to single…

Robots must adapt to diverse human instructions and operate safely in unstructured, open-world environments. Recent Vision-Language models (VLMs) offer strong priors for grounding language and perception, but remain difficult to steer for…

Vision-language-action models (VLAs) have garnered significant attention for their potential in advancing robotic manipulation. However, previous approaches predominantly rely on the general comprehension capabilities of vision-language…

Autonomous navigation in highly constrained environments remains challenging for mobile robots. Classical navigation approaches offer safety assurances but require environment-specific parameter tuning; end-to-end learning bypasses…

We introduce LaViLa, a new approach to learning video-language representations by leveraging Large Language Models (LLMs). We repurpose pre-trained LLMs to be conditioned on visual input, and finetune them to create automatic video…

Robot action planning in the real world is challenging as it requires not only understanding the current state of the environment but also predicting how it will evolve in response to actions. Vision-language-action (VLA), which repurpose…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…