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Robotic Foundation Models (RFMs) hold great promise as generalist, end-to-end systems for robot control. Yet their ability to generalize across new environments, tasks, and embodiments remains limited. We argue that a major bottleneck lies…

Two-view structure from motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM (vSLAM). Many existing end-to-end learning-based methods usually formulate it as a brute regression problem. However, the inadequate utilization of…

Computational Fluid Dynamics (CFD) is the main approach to analyzing flow field. However, the convergence and accuracy depend largely on mathematical models of flow, numerical methods, and time consumption. Deep learning-based analysis of…

Planning and acting in 3D environments is a fundamental capability for robotic manipulation in the real world. Although prior work has explored predictive flow planners to guide 3D manipulation, existing approaches often rely on modular…

Vision-Language Models (VLMs) have demonstrated strong performance on multimodal reasoning tasks, but their deployment remains challenging due to high inference latency and computational cost, particularly when processing high-resolution…

Diffusion models achieve strong generative performance but often rely on large datasets that may include sensitive content. This challenge is compounded by the models' tendency to memorize training data, raising privacy concerns. SFBD (Lu…

We introduce Lavender, a simple supervised fine-tuning (SFT) method that boosts the performance of advanced vision-language models (VLMs) by leveraging state-of-the-art image generation models such as Stable Diffusion. Specifically,…

Recent research looks to harness the general knowledge and reasoning of large language models (LLMs) into agents that accomplish user-specified goals in interactive environments. Vision-language models (VLMs) extend LLMs to multi-modal data…

Embedding models are a fundamental component of modern AI systems such as semantic search and retrieval-augmented generation. Recent advances in large foundation models have substantially accelerated the development of embedding models,…

Building a general robotic manipulation system capable of performing a wide variety of tasks in real-world settings is a challenging task. Vision-Language Models (VLMs) have demonstrated remarkable potential in robotic manipulation tasks,…

Large Language Models (LLMs) and Vision-Language Models (VLMs) have emerged as promising candidates for end-to-end autonomous driving. However, these models typically face challenges in inference latency, action precision, and…

Whole-body control of robotic manipulators with awareness of full-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object interactions, which makes it insufficient to consider only the…

Vision-language models (VLMs) have demonstrated strong performance in 2D scene understanding and generation, but extending this unification to the physical world remains an open challenge. Existing 3D and 4D approaches typically embed scene…

Enabling robots to perform diverse tasks across varied environments is a central challenge in robot learning. While vision-language-action (VLA) models have shown promise for generalizable robot skills, realizing their full potential…

In this work, we present a novel method for the mesh update in flow problems with moving boundaries, the phantom domain deformation mesh update method (PD-DMUM). The PD-DMUM is designed to avoid remeshing; even in the event of large,…

This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world. Offline learning…

Score Distillation Sampling (SDS) enables high-quality text-to-3D generation by supervising 3D models through the denoising of multi-view 2D renderings, using a pretrained text-to-image diffusion model to align with the input prompt and…

New era has unlocked exciting possibilities for extending Large Language Models (LLMs) to tackle 3D vision-language tasks. However, most existing 3D multimodal LLMs (MLLMs) rely on compressing holistic 3D scene information or segmenting…

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 performance of Latent Diffusion Models (LDMs) is critically dependent on the quality of their visual tokenizers. While recent works have explored incorporating Vision Foundation Models (VFMs) into the tokenizers training via…