Related papers: Fine-Tuning Vision-Language Models for Visual Navi…

Recent advances in fine-tuning Vision-Language Models (VLMs) have witnessed the success of prompt tuning and adapter tuning, while the classic model fine-tuning on inherent parameters seems to be overlooked. It is believed that fine-tuning…

Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…

In this work, we propose norm-bounded low-rank adaptation (NB-LoRA) for parameter-efficient fine tuning. NB-LoRA is a novel parameterization of low-rank weight adaptations that admits explicit bounds on each singular value of the adaptation…

Adapters and Low-Rank Adaptation (LoRA) are parameter-efficient fine-tuning techniques designed to make the training of language models more efficient. Previous results demonstrated that these methods can even improve performance on some…

Vision-language foundation models such as CLIP have shown impressive zero-shot performance on many tasks and datasets, especially thanks to their free-text inputs. However, they struggle to handle some downstream tasks, such as fine-grained…

LoRA adapts large language models (LLMs) by restricting updates to low-rank subspaces of pre-trained weights. While this substantially reduces training cost, the effectiveness of adaptation critically depends on which subspace is chosen at…

Large Vision-Language Models (LVLMs) extend large language models with visual understanding, but remain vulnerable to hallucination, where outputs are fluent yet inconsistent with images. Recent studies link this issue to language bias-the…

Large Language Models (LLMs) have transformed both everyday life and scientific research. However, adapting LLMs from general-purpose models to specialized tasks remains challenging, particularly in resource-constrained environments.…

This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…

Generalist robots should be able to understand and follow user instructions, but current vision-language-action (VLA) models struggle with following fine-grained commands despite providing a powerful architecture for mapping open-vocabulary…

Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…

Vision Language Models (VLMs) have undergone significant advancements, particularly with the emergence of mobile-oriented VLMs, which offer a wide range of application scenarios. However, the substantial computational requirements for…

Vision-language Navigation (VLN) tasks require an agent to navigate step-by-step while perceiving the visual observations and comprehending a natural language instruction. Large data bias, which is caused by the disparity ratio between the…

Parameter-efficient fine-tuning methods such as LoRA enable efficient adaptation of large pretrained models but often fall short of full fine-tuning performance. Existing approaches focus on aligning parameter updates, which only indirectly…

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…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Efficient fine-tuning of vision-language models (VLMs) like CLIP for specific downstream tasks is gaining significant attention. Previous works primarily focus on prompt learning to adapt the CLIP into a variety of downstream tasks,…

Large Language Models are increasingly used in robotics for task planning, but their reliance on textual inputs limits their adaptability to real-world changes and failures. To address these challenges, we propose LERa - Look, Explain,…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

Low-rank adaptation (LoRA) is a fine-tuning technique that can be applied to conditional generative diffusion models. LoRA utilizes a small number of context examples to adapt the model to a specific domain, character, style, or concept.…