Related papers: SPEAR-1: Scaling Beyond Robot Demonstrations via 3…
To utilize Foundation Vision Language Models (VLMs) for robotic tasks and motion planning, the community has proposed different methods for injecting action components into VLMs and building the Vision-Language-Action models (VLAs). In this…
As textual reasoning with large language models (LLMs) has advanced significantly, there has been growing interest in enhancing the multimodal reasoning capabilities of large vision-language models (LVLMs). However, existing methods…
The emergence of large language models (LLM) and, consequently, vision language models (VLM) has ignited new imaginations among robotics researchers. At this point, the range of applications to which LLM and VLM can be applied in…
Spatio-physical reasoning, a foundation capability for understanding the real physics world, is a critical step towards building robust world models. While recent vision language models (VLMs) have shown remarkable progress in specialized…
The integration of language instructions with robotic control, particularly through Vision Language Action (VLA) models, has shown significant potential. However, these systems are often hindered by high computational costs, the need for…
Every major data modality now has a foundation model that understands it natively: text has language models, images have vision models, audio has audio models. Tabular data, the modality on which many consequential real-world AI decisions…
The strong performance of large vision-language models (VLMs) trained with reinforcement learning (RL) has motivated similar approaches for fine-tuning vision-language-action (VLA) models in robotics. Many recent works fine-tune VLAs…
Pretrained vision foundation models (VFMs) advance robotic learning via rich visual representations, yet individual VFMs typically excel only in specific domains, limiting generality across tasks. Distilling multiple VFMs into a unified…
Fine-grained sparsity promises higher parametric capacity without proportional per-token compute, but often suffers from training instability, load balancing, and communication overhead. We introduce STEM (Scaling Transformers with…
Foundation models, first introduced in 2021, refer to large-scale pretrained models (e.g., large language models (LLMs) and vision-language models (VLMs)) that learn from extensive unlabeled datasets through unsupervised methods, enabling…
Precise spatial modeling in the operating room (OR) is foundational to many clinical tasks, supporting intraoperative awareness, hazard avoidance, and surgical decision-making. While existing approaches leverage large-scale multimodal…
The advent of foundation models, particularly Vision-Language Models (VLMs) and Multi-modal Large Language Models (MLLMs), has redefined the frontiers of artificial intelligence, enabling remarkable generalization across diverse tasks with…
Humans act with context and intention, with reasoning playing a central role. While internet-scale data has enabled broad reasoning capabilities in AI systems, grounding these abilities in physical action remains a major challenge. We…
Recent Multi-Modal Large Language Models (MLLMs) have demonstrated strong capabilities in learning joint representations from text and images. However, their spatial reasoning remains limited. We introduce 3DFroMLLM, a novel framework that…
Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…
Humans build viewpoint-independent cognitive maps through navigation, enabling intuitive reasoning about object permanence and spatial relations. We argue that multimodal large language models (MLLMs), despite extensive video training, lack…
Vision Language Models (VLMs) have received significant attention in recent years in the robotics community. VLMs are shown to be able to perform complex visual reasoning and scene understanding tasks, which makes them regarded as a…
Vision-language models (VLMs) have shown strong performance on static visual understanding, yet they still struggle with dynamic spatial reasoning that requires imagining how scenes evolve under egocentric motion. Recent efforts address…
Foundation models or pre-trained models have substantially improved the performance of various language, vision, and vision-language understanding tasks. However, existing foundation models can only perform the best in one type of tasks,…
Rapid advancements in foundation models, including Large Language Models, Vision-Language Models, Multimodal Large Language Models, and Vision-Language-Action Models, have opened new avenues for embodied AI in mobile service robotics. By…