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Mixture-of-Experts (MoE) has emerged as an effective approach to reduce the computational overhead of Transformer architectures by sparsely activating a subset of parameters for each token while preserving high model capacity. This paradigm…

Vision-Language Models (VLMs) have emerged as a promising approach to address the data scarcity challenge in robotics, enabling the development of generalizable visuomotor control policies. While models like OpenVLA showcase the potential…

While MLLMs perform well on perceptual tasks, they lack precise multimodal alignment, limiting performance. To address this challenge, we propose Vision Dynamic Embedding-Guided Pretraining (VDEP), a hybrid autoregressive training paradigm…

Large Language Models (LLMs) have achieved remarkable success across diverse applications, yet their deployment remains challenging due to substantial computational costs, memory requirements, and energy consumption. Recent empirical…

Large Language Models (LLMs) have shown great promise in multilingual machine translation (MT), even with limited bilingual supervision. However, fine-tuning LLMs with parallel corpora presents major challenges, namely parameter…

Large language models (LLMs) have demonstrated that large-scale pretraining enables systems to adapt rapidly to new problems with little supervision in the language domain. This success, however, has not translated as effectively to the…

Heterogeneous multirobot systems show great potential in complex tasks requiring coordinated hybrid cooperation. However, existing methods that rely on static or task-specific models often lack generalizability across diverse tasks and…

Pre-trained vision-language models (VLMs) have achieved impressive results in a range of vision-language tasks. However, popular VLMs usually consist of hundreds of millions of parameters which brings challenges for fine-tuning and…

Developing Audio-Visual Large Language Models (AV-LLMs) for unified scene understanding is pivotal in multimodal intelligence. While instruction tuning enables pre-trained models with multi-task abilities, we observe that conventional…

Vision-Language-Action (VLA) models trained on large robot datasets promise general-purpose, robust control across diverse domains and embodiments. However, existing approaches often fail out-of-the-box when deployed in novel environments,…

3D vision and spatial reasoning have long been recognized as preferable for accurately perceiving our three-dimensional world, especially when compared with traditional visual reasoning based on 2D images. Due to the difficulties in…

Achieving deep alignment between vision and language remains a central challenge for Multimodal Large Language Models (MLLMs). These models often fail to fully leverage visual input, defaulting to strong language priors. Our approach first…

Vision-Language Models (VLMs) have achieved impressive performance in cross-modal understanding across textual and visual inputs, yet existing benchmarks predominantly focus on pure-text queries. In real-world scenarios, language also…

Vision-language models (VLMs) have shown strong perception and reasoning abilities for instruction-following embodied agents. However, despite these abilities and their generalization performance, they still face limitations in…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

Mixture of Experts (MoE) models have enabled the scaling of Large Language Models (LLMs) and Vision Language Models (VLMs) by achieving massive parameter counts while maintaining computational efficiency. However, MoEs introduce several…

Recent advancement of large language models (LLMs) has led to significant breakthroughs across various tasks, laying the foundation for the development of LLM-based speech translation systems. Existing methods primarily focus on aligning…

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…

Mixture-of-Experts (MoE) models are designed to enhance the efficiency of large language models (LLMs) without proportionally increasing the computational demands. However, their deployment on edge devices still faces significant challenges…

The Mixture of Experts (MoE) has emerged as a highly successful technique in deep learning, based on the principle of divide-and-conquer to maximize model capacity without significant additional computational cost. Even in the era of…