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Large-scale contrastive pre-training produces powerful Vision-and-Language Models (VLMs) capable of generating representations (embeddings) effective for a wide variety of visual and multimodal tasks. However, these pretrained embeddings…

Large language models (LLMs) have achieved state-of-the-art results in many natural language processing tasks. They have also demonstrated ability to adapt well to different tasks through zero-shot or few-shot settings. With the capability…

Vision-Language Navigation (VLN) is a core challenge in embodied AI, requiring agents to navigate real-world environments using natural language instructions. Current language model-based navigation systems operate on discrete topological…

Recent advances in vision-language-action (VLA) models have motivated the extension of their capabilities to embodied settings, where reinforcement learning (RL) offers a principled way to optimize task success through interaction. However,…

Vision-Language-Action (VLA) models typically bridge the gap between perceptual and action spaces by pre-training a large-scale Vision-Language Model (VLM) on robotic data. While this approach greatly enhances performance, it also incurs…

Large vision-language models (VLMs) excel at multimodal understanding but fall short when extended to embodied tasks, where instructions must be transformed into low-level motor actions. We introduce ST4VLA, a dual-system…

Recent progress in large-scale robotic datasets and vision-language models (VLMs) has advanced research on vision-language-action (VLA) models. However, existing VLA models still face two fundamental challenges: (i) producing precise…

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…

Most production-level deployments for Visual Question Answering (VQA) tasks are still build as processing pipelines of independent steps including image pre-processing, object- and text detection, Optical Character Recognition (OCR) and…

Vision-language-action (VLA) models show potential for general robotic tasks, but remain challenging in spatiotemporally coherent manipulation, which requires fine-grained representations. Typically, existing methods embed 3D positions into…

Pretrained vision-language models (VLMs), such as CLIP, achieve remarkable zero-shot performance, yet their downstream potential hinges on effective fine-tuning. Most adaptation methods typically focus on refining representation from…

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…

Pretrained models have produced great success in both Computer Vision (CV) and Natural Language Processing (NLP). This progress leads to learning joint representations of vision and language pretraining by feeding visual and linguistic…

In visuomotor policy learning, the control policy for the robotic agent is derived directly from visual inputs. The typical approach, where a policy and vision encoder are trained jointly from scratch, generalizes poorly to novel visual…

Vision-language-action (VLA) models for closed-loop robot control are typically cast under the Markov assumption, making them prone to errors on tasks requiring historical context. To incorporate memory, existing VLAs either retrieve from a…

Foundation models (FMs) are increasingly used to bridge language and action in embodied agents, yet the operational characteristics of different FM integration strategies remain under-explored -- particularly for complex instruction…

Low-Rank Adaptation (LoRA) is the prevailing approach for efficient large language model (LLM) fine-tuning. Building on this paradigm, recent studies have proposed alternative initialization strategies, architectural modifications, and…

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The performance of VLA models can be improved by integrating with action chunking, a critical technique for effective control.…

Preference-based reinforcement learning (RL) offers a promising approach for aligning policies with human intent but is often constrained by the high cost of human feedback. In this work, we introduce PrefVLM, a framework that integrates…

Reinforcement learning (RL) fine-tuning has shown promise for Vision-Language-Action (VLA) models in robotic manipulation, but deployment-time visual shifts pose practical challenges. A key difficulty is that standard task rewards supervise…