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Recent vision-language-action (VLA) models for multi-task robot manipulation often rely on fixed camera setups and shared visual encoders, which limit their performance under occlusions and during cross-task transfer. To address these…

Vision-Language-Action (VLA) models have recently shown impressive generalization and language-guided manipulation capabilities. However, their performance degrades on tasks requiring precise spatial reasoning due to limited spatial…

Recent progress in large-scale robotic datasets and vision-language models (VLMs) has advanced research on vision-language-action (VLA) models. However, existing VLA models still face two fundamental challenges: (i) producing precise…

Latent Action Models (LAMs) have rapidly gained traction as an important component in the pre-training pipelines of leading Vision-Language-Action models. However, they fail when observations contain action-correlated distractors, often…

Vision language models (VLMs) perform well on many tasks but often fail at spatial reasoning, which is essential for navigation and interaction with physical environments. Many spatial reasoning tasks depend on fundamental two-dimensional…

Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation arises from training VLMs on static internet-scale…

Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such…

In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as answering questions about images, retrieving sentences that…

We present a novel computational model, "SAViR-T", for the family of visual reasoning problems embodied in the Raven's Progressive Matrices (RPM). Our model considers explicit spatial semantics of visual elements within each image in 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…

Visual place recognition (VPR) remains challenging due to significant viewpoint changes and appearance variations. Mainstream works tackle these challenges by developing various feature aggregation methods to transform deep features into…

Understanding and reasoning about spatial relationships is a fundamental capability for Visual Question Answering (VQA) and robotics. While Vision Language Models (VLM) have demonstrated remarkable performance in certain VQA benchmarks,…

Vision-language-action (VLA) models perform well on training-seen robotic tasks but struggle to generalize to unseen scenes and objects. A key limitation lies in their implicit visual representations, which entangle object appearance,…

Building on the advancements of Large Language Models (LLMs) and Vision Language Models (VLMs), recent research has introduced Vision-Language-Action (VLA) models as an integrated solution for robotic manipulation tasks. These models take…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

We build upon time-series classification by leveraging the capabilities of Vision Language Models (VLMs). We find that VLMs produce competitive results after two or less epochs of fine-tuning. We develop a novel approach that incorporates…

Autoregressive vision-language models (VLMs) can handle many tasks within a single model, yet the representations that enable this capability remain opaque. We find that VLMs align conceptually equivalent inputs into a shared task vector,…

Vision-Language-Action models have demonstrated remarkable capabilities in predicting agent movements within virtual environments and real-world scenarios based on visual observations and textual instructions. Although recent research has…

Vision-Language Models (VLMs) are increasingly pivotal for generalist robot manipulation, enabling tasks such as physical reasoning, policy generation, and failure detection. However, their proficiency in these high-level applications often…

Recent advances in vision-language models (VLMs) have led to improved performance on tasks such as visual question answering and image captioning. Consequently, these models are now well-positioned to reason about the physical world,…