Related papers: Language-Conditioned Representations and Mixture-o…

Visual deep reinforcement learning (RL) enables robots to acquire skills from visual input for unstructured tasks. However, current algorithms suffer from low sample efficiency, limiting their practical applicability. In this work, we…

Diffusion policies have emerged as a powerful framework for robotic visuomotor control, yet they often lack the robustness to recover from subtask failures in long-horizon, multi-stage tasks and their learned representations of observations…

Recent advancements in general-purpose or domain-specific multimodal large language models (LLMs) have witnessed remarkable progress for medical decision-making. However, they are designated for specific classification or generative tasks,…

Diffusion-based policies have established a new standard for precise robotic manipulation but face a critical scalability bottleneck: high-performance models are computationally expensive, while lightweight alternatives often fail to…

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…

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 are experiencing rapid development and demonstrating promising capabilities in robotic manipulation tasks. However, scaling up VLA models presents several critical challenges: (1) Training new VLA models…

Multimodal large language models (MLLMs) have demonstrated impressive capabilities across various vision-language tasks. However, a generalist MLLM typically underperforms compared with a specialist MLLM on most VL tasks, which can be…

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…

Imitation learning enables robots to acquire manipulation skills from demonstrations, yet deploying a policy across tasks with heterogeneous dynamics remains challenging, as models tend to average over distinct behavioral modes present in…

In this work, we investigate how spatially grounded auxiliary representations can provide both broad, high-level grounding as well as direct, actionable information to improve policy learning performance and generalization for dexterous…

The ability of robots to handle multiple tasks under a unified policy is critical for deploying embodied intelligence in real-world household and industrial applications. However, out-of-distribution variation across tasks often causes…

In this work, we focus on unsupervised vision-language-action mapping in the area of robotic manipulation. Recently, multiple approaches employing pre-trained large language and vision models have been proposed for this task. However, they…

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…

Large language models (LLMs) encounter significant adaptation challenges in diverse multitask finetuning. Mixture-of-experts (MoE) provides a promising solution with a dynamic architecture, enabling effective task decoupling. However,…

Multi-task visual grounding (MTVG) includes two sub-tasks, i.e., Referring Expression Comprehension (REC) and Referring Expression Segmentation (RES). The existing representative approaches generally follow the research pipeline which…

Multimodal large language models (MLLMs) require a nuanced interpretation of complex image information, typically leveraging a vision encoder to perceive various visual scenarios. However, relying solely on a single vision encoder to handle…

The field of natural language processing (NLP) has made significant strides in recent years, particularly in the development of large-scale vision-language models (VLMs). These models aim to bridge the gap between text and visual…

As the research of Multimodal Large Language Models (MLLMs) becomes popular, an advancing MLLM model is typically required to handle various textual and visual tasks (e.g., VQA, Detection, OCR, and ChartQA) simultaneously for real-world…

Recent advancements have shown that the Mixture of Experts (MoE) approach significantly enhances the capacity of large language models (LLMs) and improves performance on downstream tasks. Building on these promising results, multi-modal…