Related papers: VLM4VLA: Revisiting Vision-Language-Models in Visi…
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,…
Equipping embodied agents with the ability to reason about tasks, foresee physical outcomes, and generate precise actions is essential for general-purpose manipulation. While recent Vision-Language-Action (VLA) models have leveraged…
Recent advancements in large vision-language models (LVLMs), such as GPT4-V and LLaVA, have been substantial. LLaVA's modular architecture, in particular, offers a blend of simplicity and efficiency. Recent works mainly focus on introducing…
Vision-Language-Action (VLA) models combine perception, language, and motor control in a single architecture, yet how they translate multimodal inputs into actions remains poorly understood. We apply activation injection, sparse…
Vision-language-action (VLA) models achieve strong in-distribution performance but degrade sharply under novel camera viewpoints and visual perturbations. We show that this brittleness primarily arises from misalignment in Spatial Modeling,…
Currently, inspired by the success of vision-language models (VLMs), an increasing number of researchers are focusing on improving VLMs and have achieved promising results. However, most existing methods concentrate on optimizing the…
In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…
Recent advancements in multimodal techniques open exciting possibilities for models excelling in diverse tasks involving text, audio, and image processing. Models like GPT-4V, blending computer vision and language modeling, excel in complex…
Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…
Vision-language action (VLA) policies often report strong manipulation benchmark performance with relatively few demonstrations, but it remains unclear whether this reflects robust language-to-object grounding or reliance on…
Humans can quickly learn new behaviors by leveraging background world knowledge. In contrast, agents trained with reinforcement learning (RL) typically learn behaviors from scratch. We thus propose a novel approach that uses the vast…
Vision-language models (VLMs) have achieved impressive performance across a wide range of multimodal tasks. However, they often fail on tasks that require fine-grained visual perception, even when the required information is still present…
Vision-Language-Action models (VLAs) hold immense promise for enabling generalist robot manipulation. However, the best way to build them remains an open question. Current approaches often add complexity, such as modifying the existing…
Vision-Language-Action (VLA) models have made substantial progress by leveraging the robust capabilities of Visual Language Models (VLMs). However, VLMs' significant parameter size and autoregressive (AR) decoding nature impose considerable…
Capitalizing on the remarkable advancements in Large Language Models (LLMs), there is a burgeoning initiative to harness LLMs for instruction following robotic navigation. Such a trend underscores the potential of LLMs to generalize…
Vision Language Models (VLMs) are increasingly adopted as central reasoning modules for embodied agents. Existing benchmarks evaluate their capabilities under ideal, well-lit conditions, yet robust 24/7 operation demands performance under a…
Vision-language model (VLM) fine-tuning for application-specific visual grounding based on natural language instructions has become one of the most popular approaches for learning-enabled autonomous systems. However, such fine-tuning relies…
Vision-Language-Action (VLA) models have emerged as a popular paradigm for learning robot manipulation policies that can follow language instructions and generalize to novel scenarios. Recent works have begun to explore the incorporation of…
Visual-Language-Action (VLA) models represent a paradigm shift in embodied AI, yet existing frameworks often struggle with imprecise spatial perception, suboptimal multimodal fusion, and instability in reinforcement learning. To bridge…
Vision-Language Pre-training (VLP) has advanced the performance of many vision-language tasks, such as image-text retrieval, visual entailment, and visual reasoning. The pre-training mostly utilizes lexical databases and image queries in…