相关论文: GRILL: Grounded Vision-language Pre-training via A…

This paper presents CoLLIE: a simple, yet effective model for continual learning of how language is grounded in vision. Given a pre-trained multimodal embedding model, where language and images are projected in the same semantic space (in…

Robotic manipulation faces a significant challenge in generalizing across unseen objects, environments and tasks specified by diverse language instructions. To improve generalization capabilities, recent research has incorporated large…

Multimodal foundation models have demonstrated strong generalization, yet their ability to transfer knowledge to specialized domains such as garment generation remains underexplored. We introduce VLG, a vision-language-garment model that…

Vision-Language Models (VLMs) have shown remarkable capabilities across diverse visual tasks, including image recognition, video understanding, and Visual Question Answering (VQA) when explicitly trained for these tasks. Despite these…

3D visual grounding is a critical skill for household robots, enabling them to navigate, manipulate objects, and answer questions based on their environment. While existing approaches often rely on extensive labeled data or exhibit…

Vision-language models (VLMs) trained on internet-scale data achieve remarkable zero-shot detection performance on common objects like car, truck, and pedestrian. However, state-of-the-art models still struggle to generalize to…

In the field of multimodal chain-of-thought (CoT) reasoning, existing approaches predominantly rely on reasoning on pure language space, which inherently suffers from language bias and is largely confined to math or science domains. This…

Image geolocalization has traditionally been addressed through retrieval-based place recognition or geometry-based visual localization pipelines. Recent advances in Vision-Language Models (VLMs) have demonstrated strong zero-shot reasoning…

Instruction-following agents must ground language into their observation and action spaces. Learning to ground language is challenging, typically requiring domain-specific engineering or large quantities of human interaction data. To…

Vision-language action (VLA) policies often report strong manipulation benchmark performance with relatively few demonstrations, but it remains unclear whether this reflects robust language-to-object grounding or reliance on…

Recent studies have demonstrated the efficacy of using Reinforcement Learning (RL) in building reasoning models that articulate chains of thoughts prior to producing final answers. However, despite ongoing advances that aim at enabling…

With recent progress in joint modeling of visual and textual representations, Vision-Language Pretraining (VLP) has achieved impressive performance on many multimodal downstream tasks. However, the requirement for expensive annotations…

Vision-Language Models (VLMs) have achieved remarkable progress, yet their large scale often renders them impractical for resource-constrained environments. This paper introduces Unified Reinforcement and Imitation Learning (RIL), a novel…

Vision-language models (VLMs) are impactful in part because they can be applied to a variety of visual understanding tasks in a zero-shot fashion, without any fine-tuning. We study $\textit{generative VLMs}$ that are trained for next-word…

Natural Human-Robot Interaction (HRI) is one of the key components for service robots to be able to work in human-centric environments. In such dynamic environments, the robot needs to understand the intention of the user to accomplish a…

Modern neural language models (LMs) are powerful tools for modeling human sentence production and comprehension, and their internal representations are remarkably well-aligned with representations of language in the human brain. But to…

Multimodal Large Language Models (MLLMs) have demonstrated impressive progress in single-image grounding and general multi-image understanding. Recently, some methods begin to address multi-image grounding. However, they are constrained by…

Multimodal large language models (MLLMs) trained with visual instruction tuning have achieved strong performance across diverse tasks, yet they remain limited in vision-centric tasks such as object counting or spatial reasoning. We…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Approaches to Grounded Language Learning typically focus on a single task-based final performance measure that may not depend on desirable properties of the learned hidden representations, such as their ability to predict salient attributes…