Related papers: TC-IDM: Grounding Video Generation for Executable …

Robot action planning in the real world is challenging as it requires not only understanding the current state of the environment but also predicting how it will evolve in response to actions. Vision-language-action (VLA), which repurpose…

With the ever-increasing popularity of pretrained Video-Language Models (VidLMs), there is a pressing need to develop robust evaluation methodologies that delve deeper into their visio-linguistic capabilities. To address this challenge, we…

Vision-Language-Action models have emerged as a promising paradigm for robotic manipulation by unifying perception, language grounding, and action generation. However, they often struggle in scenarios requiring precise spatial…

Existing Vision-Language-Action (VLA) models often suffer from feature collapse and low training efficiency because they entangle high-level perception with sparse, embodiment-specific action supervision. Since these models typically rely…

Robotic systems are increasingly expected to operate in human-centered, unstructured environments where safety, adaptability, and generalization are essential. Vision-Language-Action (VLA) models have been proposed as a language guided…

We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich features like crosswalks, grass, and curbs, which are easily…

Recent advances in robot manipulation have leveraged pre-trained vision-language models (VLMs) and explored integrating 3D spatial signals into these models for effective action prediction, giving rise to the promising…

Vision-Language Models (VLMs) such as CLIP learn a shared embedding space for images and text, yet their representations remain geometrically separated, a phenomenon known as the modality gap. This gap limits tasks requiring cross-modal…

3D Visual Grounding (3D-VG) aims to localize objects in 3D scenes via natural language descriptions. While recent advancements leveraging Vision-Language Models (VLMs) have explored zero-shot possibilities, they typically suffer from a…

Fine-tuning vision-language models (VLMs) on robot teleoperation data to create vision-language-action (VLA) models is a promising paradigm for training generalist policies, but it suffers from a fundamental tradeoff: learning to produce…

In the paradigm of AI-generated content (AIGC), there has been increasing attention to transferring knowledge from pre-trained text-to-image (T2I) models to text-to-video (T2V) generation. Despite their effectiveness, these frameworks face…

While video-generation-based embodied world models have gained increasing attention, their reliance on large-scale embodied interaction data remains a key bottleneck. The scarcity, difficulty of collection, and high dimensionality of…

Evaluating robot control policies is difficult: real-world testing is costly, and handcrafted simulators require manual effort to improve in realism and generality. We propose a world-model-based policy evaluation environment (WorldGym), an…

Vision-language-action (VLA) models provide a promising paradigm for scalable robotic manipulation, yet their reliance on success-only behavioral cloning leaves them brittle; lacking corrective training signals, minor execution errors…

Vision-language models (VLMs) exhibit a systematic bias when confronted with classic optical illusions: they overwhelmingly predict the illusion as "real" regardless of whether the image has been counterfactually modified. We present a…

Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies trained on expensive, embodiment-specific robot data. While…

As world models gain momentum in Embodied AI, an increasing number of works explore using video foundation models as predictive world models for downstream embodied tasks like 3D prediction or interactive generation. However, before…

In embodied AI, visual perception should be active rather than passive: the system must decide where to look and at what scale to sense to acquire maximally informative data under pixel and spatial budget constraints. Existing vision models…

Learning a generalizable bimanual manipulation policy is extremely challenging for embodied agents due to the large action space and the need for coordinated arm movements. Existing approaches rely on Vision-Language-Action (VLA) models to…

Recent developments in Multimodal Large Language Models (MLLMs) have significantly improved Vision-Language (VL) reasoning in 2D domains. However, extending these capabilities to 3D scene understanding remains a major challenge. Existing 3D…