Related papers: PhysVLM: Enabling Visual Language Models to Unders…

With their prominent scene understanding and reasoning capabilities, pre-trained visual-language models (VLMs) such as GPT-4V have attracted increasing attention in robotic task planning. Compared with traditional task planning strategies,…

The diagnosis of pathological images is often limited by expert availability and regional disparities, highlighting the importance of automated diagnosis using Vision-Language Models (VLMs). Traditional multimodal models typically emphasize…

Vision Language Models (VLMs) have demonstrated remarkable performance in 2D vision and language tasks. However, their ability to reason about spatial arrangements remains limited. In this work, we introduce Spatial Region GPT (SpatialRGPT)…

Large language models (LLMs) and vision-language models (VLMs) have demonstrated remarkable performance across a wide range of tasks and domains. Despite this promise, spatial understanding and reasoning -- a fundamental component of human…

Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…

CAPTCHA, originally designed to distinguish humans from robots, has evolved into a real-world benchmark for assessing the spatial reasoning capabilities of vision-language models. In this work, we first show that step-by-step reasoning is…

Human robot interaction is an exciting task, which aimed to guide robots following instructions from human. Since huge gap lies between human natural language and machine codes, end to end human robot interaction models is fair challenging.…

Autonomous driving systems often infer pedestrian yielding behavior from geometric and kinematic cues alone, limiting their ability to reason about visual scene context and age-dependent behavioral variability. This limitation can produce…

Vision-Language Models (VLM) can generate plausible high-level plans when prompted with a goal, the context, an image of the scene, and any planning constraints. However, there is no guarantee that the predicted actions are geometrically…

We investigate the ability of Vision Language Models (VLMs) to perform visual perspective taking using a new set of visual tasks inspired by established human tests. Our approach leverages carefully controlled scenes in which a single…

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…

Vision-language models (VLMs) work well in tasks ranging from image captioning to visual question answering (VQA), yet they struggle with spatial reasoning, a key skill for understanding our physical world that humans excel at. We find that…

Foundation Models (FMs), e.g., large language models, possess attributes of intelligence which offer promise to endow a robot with the contextual understanding necessary to navigate complex, unstructured tasks in the wild. We see three core…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

Vision-Language Models (VLMs) demonstrate impressive capabilities across multimodal tasks, yet exhibit systematic spatial reasoning failures, achieving only 49% (CLIP) to 54% (BLIP-2) accuracy on basic directional relationships. For safe…

Vision-language-action models have emerged as a crucial paradigm in robotic manipulation. However, existing VLA models exhibit notable limitations in handling ambiguous language instructions and unknown environmental states. Furthermore,…

Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous approaches remain disconnected from environment mapping,…

Vision-Language-Action (VLA) models empower robots to understand and execute tasks described by natural language instructions. However, a key challenge lies in their ability to generalize beyond the specific environments and conditions they…

Visual-Language Navigation (VLN) is a fundamental challenge in robotic systems, with broad applications for the deployment of embodied agents in real-world environments. Despite recent advances, existing approaches are limited in long-range…

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…