Related papers: Perceiving, Reasoning, Adapting: A Dual-Layer Fram…

Vision-language models (VLMs) have advanced multimodal reasoning but still face challenges in spatial reasoning for 3D scenes and complex object configurations. To address this, we introduce SpatialViLT, an enhanced VLM that integrates…

The advent of Large Language Models (LLMs) has significantly reshaped the trajectory of the AI revolution. Nevertheless, these LLMs exhibit a notable limitation, as they are primarily adept at processing textual information. To address this…

Open-set perception in complex traffic environments poses a critical challenge for autonomous driving systems, particularly in identifying previously unseen object categories, which is vital for ensuring safety. Visual Language Models…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

Vision-Language Models (VLMs) have demonstrated remarkable performance across a variety of real-world tasks. However, existing VLMs typically process visual information by serializing images, a method that diverges significantly from the…

Vision-language models (VLMs) have made substantial progress across a wide range of visual question answering benchmarks, spanning visual reasoning, document understanding, and multimodal dialogue. These improvements are evident in a wide…

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…

Vision-Language Models (VLMs) have shown great success as foundational models for downstream vision and natural language applications in a variety of domains. However, these models are limited to reasoning over objects and actions currently…

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…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

The use of Vision-Language Models (VLMs) in automated driving applications is becoming increasingly common, with the aim of leveraging their reasoning and generalisation capabilities to handle long tail scenarios. However, these models…

Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning…

Recent advances in vision-language models (VLMs) have enabled instruction-conditioned robotic systems with improved generalization. However, most existing work focuses on reactive System 1 policies, underutilizing VLMs' strengths in…

Vision language models (VLMs) are an exciting emerging class of language models (LMs) that have merged classic LM capabilities with those of image processing systems. However, the ways that these capabilities combine are not always…

Capitalizing on the remarkable advancements in Large Language Models (LLMs), there is a burgeoning initiative to harness LLMs for instruction following robotic navigation. Such a trend underscores the potential of LLMs to generalize…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

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 Models (VLMs) exhibit strong visual reasoning capabilities, yet they still struggle with 3D understanding. In particular, VLMs often fail to infer a text-consistent goal 6D pose of a target object in a 3D scene. However, we…

Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple valid actions if there are several mugs and branches to…

Perception is a fundamental task in the field of computer vision, encompassing a diverse set of subtasks that can be systematically categorized into four distinct groups based on two dimensions: prediction type and instruction type.…