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In recent years, large language models have had a very impressive performance, which largely contributed to the development and application of artificial intelligence, and the parameters and performance of the models are still growing…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Recent advancements in multimodal large language models (MLLMs) have shown unprecedented capabilities in advancing various vision-language tasks. However, MLLMs face significant challenges with hallucinations, and misleading outputs that do…

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…

Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set large language models (LLMs) learn during pretraining. Vision,…

The recent advancements in auto-regressive multimodal large language models (MLLMs) have demonstrated promising progress for vision-language tasks. While there exists a variety of studies investigating the processing of linguistic…

The recent rapid development of Large Vision-Language Models (LVLMs) has indicated their potential for embodied tasks.However, the critical skill of spatial understanding in embodied environments has not been thoroughly evaluated, leaving…

We aim to evaluate Large Language Models (LLMs) for embodied decision making. While a significant body of work has been leveraging LLMs for decision making in embodied environments, we still lack a systematic understanding of their…

Visual-language models (VLM) have emerged as a powerful tool for learning a unified embedding space for vision and language. Inspired by large language models, which have demonstrated strong reasoning and multi-task capabilities, visual…

We show that large language models (LLMs) can be adapted to be generalizable policies for embodied visual tasks. Our approach, called Large LAnguage model Reinforcement Learning Policy (LLaRP), adapts a pre-trained frozen LLM to take as…

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…

Multimodal large language models (MLLMs) have made impressive progress in many applications in recent years. However, chemical MLLMs that can handle cross-modal understanding and generation remain underexplored. To fill this gap, we propose…

The rapid development of Artificial Intelligence (AI) has revolutionized numerous fields, with large language models (LLMs) and computer vision (CV) systems driving advancements in natural language understanding and visual processing,…

Large Language Models (LLMs) have emerged as a new paradigm for embodied reasoning and control, most recently by generating robot policy code that utilizes a custom library of vision and control primitive skills. However, prior arts fix…

Humans possess the visual-spatial intelligence to remember spaces from sequential visual observations. However, can Multimodal Large Language Models (MLLMs) trained on million-scale video datasets also ``think in space'' from videos? We…

Multimodal Large Language Models (MLLMs) have achieved remarkable success in open-vocabulary perceptual tasks, yet their ability to solve complex cognitive problems remains limited, especially when visual details are abstract and require…

Robotic manipulation, a key frontier in robotics and embodied AI, requires precise motor control and multimodal understanding, yet traditional rule-based methods fail to scale or generalize in unstructured, novel environments. In recent…

While large language models (LLMs) excel in a simulated world of texts, they struggle to interact with the more realistic world without perceptions of other modalities such as visual or audio signals. Although vision-language models (VLMs)…

Humans possess spatial reasoning abilities that enable them to understand spaces through multimodal observations, such as vision and sound. Large multimodal reasoning models extend these abilities by learning to perceive and reason, showing…

Modular vision-language models (Vision-LLMs) align pretrained image encoders with (frozen) large language models (LLMs) and post-hoc condition LLMs to `understand' the image input. With the abundance of readily available high-quality…