Related papers: Visual Embodied Brain: Let Multimodal Large Langua…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Recent advances in the areas of multimodal machine learning and artificial intelligence (AI) have led to the development of challenging tasks at the intersection of Computer Vision, Natural Language Processing, and Embodied AI. Whereas many…

Large Language Models (LLMs), despite being trained on text alone, surprisingly develop rich visual priors. These priors allow latent visual capabilities to be unlocked for vision tasks with a relatively small amount of multimodal data, and…

Spatial reasoning is a core aspect of human intelligence that allows perception, inference and planning in 3D environments. However, current vision-language models (VLMs) struggle to maintain geometric coherence and cross-view consistency…

This report presents Pelican-VL 1.0, a new family of open-source embodied brain models with parameter scales ranging from 7 billion to 72 billion. Our explicit mission is clearly stated as: To embed powerful intelligence into various…

Generalization in embodied AI is hindered by the "seeing-to-doing gap," which stems from data scarcity and embodiment heterogeneity. To address this, we pioneer "pointing" as a unified, embodiment-agnostic intermediate representation,…

Complex Visual Question Answering (Complex VQA) tasks, which demand sophisticated multi-modal reasoning and external knowledge integration, present significant challenges for existing large vision-language models (LVLMs) often limited by…

Recent advancements in Multimodal Large Language Models (MLLMs) have significantly enhanced performance on 2D visual tasks. However, improving their spatial intelligence remains a challenge. Existing 3D MLLMs always rely on additional 3D or…

Embodied planning requires agents to make coherent multi-step decisions based on dynamic visual observations and natural language goals. While recent vision-language models (VLMs) excel at static perception tasks, they struggle with the…

Humans construct internal world models and reason by manipulating the concepts within these models. Recent advances in AI, particularly chain-of-thought (CoT) reasoning, approximate such human cognitive abilities, where world models are…

To utilize visual information, Multimodal Large Language Model (MLLM) relies on the perception process of its vision encoder. The completeness and accuracy of visual perception significantly influence the precision of spatial reasoning,…

In recent years, multimodal large language models (MLLMs) have shown remarkable capabilities in tasks like visual question answering and common sense reasoning, while visual perception models have made significant strides in perception…

The enhancement of generalization in robots by large vision-language models (LVLMs) is increasingly evident. Therefore, the embodied cognitive abilities of LVLMs based on egocentric videos are of great interest. However, current datasets…

Recent advances in Multimodal Large Language Models (MLLMs) have significantly improved 2D visual understanding, prompting interest in their application to complex 3D reasoning tasks. However, it remains unclear whether these models can…

Moving beyond the traditional paradigm of adapting internet-pretrained models to physical tasks, we present DM0, an Embodied-Native Vision-Language-Action (VLA) framework designed for Physical AI. Unlike approaches that treat physical…

Understanding the physical world - governed by laws of motion, spatial relations, and causality - poses a fundamental challenge for multimodal large language models (MLLMs). While recent advances such as OpenAI o3 and GPT-4o demonstrate…

Multimodal Large Language Models (MLLMs) have shown immense promise in universal multimodal retrieval, which aims to find relevant items of various modalities for a given query. But their practical application is often hindered by the…

Multimodal Large Language Models (MLLMs) have demonstrated impressive progress in single-image grounding and general multi-image understanding. Recently, some methods begin to address multi-image grounding. However, they are constrained by…

We present EmbodiedMAE, a unified 3D multi-modal representation for robot manipulation. Current approaches suffer from significant domain gaps between training datasets and robot manipulation tasks, while also lacking model architectures…

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…