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Vision-language models (VLMs) have advanced rapidly, yet their capacity for image-grounded geolocation in open-world conditions, a task that is challenging and of demand in real life, has not been comprehensively evaluated. We present…

Large Language Models (LLMs) show potential for enhancing robotic path planning. This paper assesses visual input's utility for multimodal LLMs in such tasks via a comprehensive benchmark. We evaluated 15 multimodal LLMs on generating valid…

Visual Place Recognition (VPR) is a critical task in computer vision, traditionally enhanced by re-ranking retrieval results with image matching. However, recent advancements in VPR methods have significantly improved performance,…

Vision-Language Models (VLMs) have demonstrated strong capabilities in aligning visual and textual modalities, enabling a wide range of applications in multimodal understanding and generation. While they excel in zero-shot and transfer…

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…

Current large vision-language models (LVLMs) typically employ a connector module to link visual features with text embeddings of large language models (LLMs) and use end-to-end training to achieve multi-modal understanding in a unified…

Vision-Language Models (VLMs) encode knowledge and reasoning capabilities for robotic manipulation within high-dimensional representation spaces. However, current approaches often project them into compressed intermediate representations,…

We investigate the ability of Vision Language Models (VLMs) to perform visual perspective taking using a new set of visual tasks inspired by established human tests. Our approach leverages carefully controlled scenes in which a single…

Despite recent successes, LVLMs or Large Vision Language Models are prone to hallucinating details like objects and their properties or relations, limiting their real-world deployment. To address this and improve their robustness, we…

Vision-Language Models (VLMs) excel at high-level scene understanding but falter on fine-grained perception tasks requiring precise localization. This failure stems from a fundamental mismatch, as generating exact numerical coordinates is a…

Despite their promise to perform complex reasoning, large language models (LLMs) have been shown to have limited effectiveness in end-to-end planning. This has inspired an intriguing question: if these models cannot plan well, can they…

Fine-tuning Vision-Language Models (VLMs) is a common strategy to improve performance following an ad-hoc data collection and annotation of real-world scenes. However, this process is often prone to biases, errors, and distribution…

Recent research looks to harness the general knowledge and reasoning of large language models (LLMs) into agents that accomplish user-specified goals in interactive environments. Vision-language models (VLMs) extend LLMs to multi-modal data…

Visual Place Recognition (VPR) often fails under extreme environmental changes and perceptual aliasing. Furthermore, standard systems cannot perform "blind" localization from verbal descriptions alone, a capability needed for applications…

Perceptive locomotion for legged robots requires anticipating and adapting to complex, dynamic environments. Model Predictive Control (MPC) serves as a strong baseline, providing interpretable motion planning with constraint enforcement,…

Recent advances in foundational Vision Language Models (VLMs) have reshaped the evaluation paradigm in computer vision tasks. These foundational models, especially CLIP, have accelerated research in open-vocabulary computer vision tasks,…

Vision-Language Models (VLMs), such as Flamingo and GPT-4V, have shown immense potential by integrating large language models with vision systems. Nevertheless, these models face challenges in the fundamental computer vision task of object…

2D assembly diagrams are often abstract and hard to follow, creating a need for intelligent assistants that can monitor progress, detect errors, and provide step-by-step guidance. In mixed reality settings, such systems must recognize…

Vision-Language Models (VLMs) have shown promising capabilities in handling various multimodal tasks, yet they struggle in long-context scenarios, particularly in tasks involving videos, high-resolution images, or lengthy image-text…

Visual Geo-localization (VG) is the task of estimating the position where a given photo was taken by comparing it with a large database of images of known locations. To investigate how existing techniques would perform on a real-world…