相关论文: FLAVA: A Foundational Language And Vision Alignmen…

Vision-Language-Action (VLA) models are driving a revolution in robotics, enabling machines to understand instructions and interact with the physical world. This field is exploding with new models and datasets, making it both exciting and…

Vision-Language-Action (VLA) models demonstrate promising generalization in robotic manipulation, driven by advances in large-scale vision and language pre-training. This progress can be misleading. Despite the zero-shot perception and…

Generalist multimodal agents are expected to unify perception, language, and control - operating robustly across diverse real world domains. However, current evaluation practices remain fragmented across isolated benchmarks, making it…

Vision-and-Language Navigation (VLN) is a natural language grounding task where agents have to interpret natural language instructions in the context of visual scenes in a dynamic environment to achieve prescribed navigation goals.…

Previous studies on federated learning (FL) often encounter performance degradation due to data heterogeneity among different clients. In light of the recent advances in multimodal large language models (MLLMs), such as GPT-4v and LLaVA,…

Offering great potential in robotic manipulation, a capable Vision-Language-Action (VLA) foundation model is expected to faithfully generalize across tasks and platforms while ensuring cost efficiency (e.g., data and GPU hours required for…

Lately, researchers in artificial intelligence have been really interested in how language and vision come together, giving rise to the development of multimodal models that aim to seamlessly integrate textual and visual information.…

Vision-Language-Action (VLA) models have recently become highly prominent in the field of robotics. Leveraging vision-language foundation models trained on large-scale internet data, the VLA model can generate robotic actions directly from…

Large-scale pretraining is fast becoming the norm in Vision-Language (VL) modeling. However, prevailing VL approaches are limited by the requirement for labeled data and the use of complex multi-step pretraining objectives. We present MAGMA…

Real-world embodied agents face long-horizon tasks, characterized by high-level goals demanding multi-step solutions beyond single actions. Successfully navigating these requires both high-level task planning (i.e., decomposing goals into…

Current vision-language models (VLMs) are well-adapted for general visual understanding tasks. However, they perform inadequately when handling complex visual tasks related to human poses and actions due to the lack of specialized…

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…

Despite the impressive advancements of Large Vision-Language Models (LVLMs), existing approaches suffer from a fundamental bottleneck: inefficient visual-language integration. Current methods either disrupt the model's inherent structure or…

Vision-language pre-training (VLP) on large-scale image-text pairs has recently witnessed rapid progress for learning cross-modal representations. Existing pre-training methods either directly concatenate image representation and text…

Vision-Language-Action (VLA) models hold great promise for general-purpose robotic intelligence, yet scaling up such models is severely bottlenecked by the high cost of acquiring annotated training data. Fortunately, vision-equipped robots…

Vision-Language-Action (VLA) models have recently emerged as powerful generalists for robotic manipulation. However, due to their predominant reliance on visual modalities, they fundamentally lack the physical intuition required for…

Visually-conditioned language models (VLMs) have seen growing adoption in applications such as visual dialogue, scene understanding, and robotic task planning; adoption that has fueled a wealth of new models such as LLaVa, InstructBLIP, and…

The previous advancements in pathology image understanding primarily involved developing models tailored to specific tasks. Recent studies has demonstrated that the large vision-language model can enhance the performance of various…

Vision-and-language (VL) pre-training, which aims to learn a general representation of image-text pairs that can be transferred to various vision-and-language tasks. Compared with modeling uni-modal data, the main challenge of the VL model…

Vision-language models, which integrate computer vision and natural language processing capabilities, have demonstrated significant advancements in tasks such as image captioning and visual question and answering. However, similar to…