Related papers: SVLL: Staged Vision-Language Learning for Physical…

Reasoning has emerged as a pivotal capability in Large Language Models (LLMs). Through Reinforcement Learning (RL), typically Group Relative Policy Optimization (GRPO), these models are able to solve complex tasks such as mathematics and…

Large Vision-Language Models (LVLMs) hold significant promise for medical applications, yet their deployment is often constrained by insufficient alignment and reliability. While Direct Preference Optimization (DPO) has emerged as a potent…

Video Large Language Models (Video LLMs) have achieved significant success by adopting the paradigm of large-scale pre-training followed by supervised fine-tuning (SFT). However, existing approaches struggle with temporal reasoning due to…

Designing dense reward functions is pivotal for efficient robotic Reinforcement Learning (RL). However, most dense rewards rely on manual engineering, which fundamentally limits the scalability and automation of reinforcement learning.…

Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing motor skills; instead, they expose a…

Vision-and-Language Navigation (VLN) requires an embodied agent to ground complex natural-language instructions into long-horizon navigation in unseen environments. While Vision-Language Models (VLMs) offer strong 2D semantic understanding,…

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…

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…

We present HaoMo Vision-Language Model (HMVLM), an end-to-end driving framework that implements the slow branch of a cognitively inspired fast-slow architecture. A fast controller outputs low-level steering, throttle, and brake commands,…

We investigate the task and motion planning problem for Signal Temporal Logic (STL) specifications in robotics. Existing STL methods rely on pre-defined maps or mobility representations, which are ineffective in unstructured real-world…

In this paper, we introduce $\text{EVL}_{\text{Gen}}$, a streamlined framework designed for the pre-training of visually conditioned language generation models with high computational demands, utilizing frozen pre-trained large language…

Existing methods for vision-language task planning excel in short-horizon tasks but often fall short in complex, long-horizon planning within dynamic environments. These challenges primarily arise from the difficulty of effectively training…

Vision-Language-Action models (VLAs) represent a significant frontier in embodied intelligence, aiming to bridge digital knowledge with physical-world interaction. Despite their remarkable performance, foundational VLAs are hindered by the…

Vision-language temporal alignment is a crucial capability for human dynamic recognition and cognition in real-world scenarios. While existing research focuses on capturing vision-language relevance, it faces limitations due to biased…

In Vision-and-Language Navigation (VLN), an embodied agent needs to reach a target destination with the only guidance of a natural language instruction. To explore the environment and progress towards the target location, the agent must…

Vision Language Models (VLMs) demonstrate significant potential as embodied AI agents for various mobility applications. However, a standardized, closed-loop benchmark for evaluating their spatial reasoning and sequential decision-making…

Developing Vision-and-Language Navigation (VLN) agents typically assumes a \textit{train-once-deploy-once} strategy, which is unrealistic as deployed agents continually encounter novel environments. To address this, we propose the Continual…

Recent advancements in Large Language Models (LLMs) and their multimodal extensions (MLLMs) have substantially enhanced machine reasoning across diverse tasks. However, these models predominantly rely on pure text as the medium for both…

As a long-term vision in the field of artificial intelligence, the core goal of embodied intelligence is to improve the perception, understanding, and interaction capabilities of agents and the environment. Vision-language navigation (VLN),…

We introduce Green-VLA, a staged Vision-Language-Action (VLA) framework for real-world deployment on the Green humanoid robot while maintaining generalization across diverse embodiments. Green-VLA follows a five stage curriculum: (L0)…