相关论文: Vision-Language Model-based Physical Reasoning for…

Large vision-language models (LVLMs) have recently witnessed rapid advancements, exhibiting a remarkable capacity for perceiving, understanding, and processing visual information by connecting visual receptor with large language models…

Vision-Language Models (VLMs) have demonstrated remarkable performance across a variety of real-world tasks. However, existing VLMs typically process visual information by serializing images, a method that diverges significantly from the…

Unlike traditional vision-only models, vision language models (VLMs) offer an intuitive way to access visual content through language prompting by combining a large language model (LLM) with a vision encoder. However, both the LLM and the…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…

Conversation agents fueled by Large Language Models (LLMs) are providing a new way to interact with visual data. While there have been initial attempts for image-based conversation models, this work addresses the under-explored field of…

Vision-language-action models (VLAs) have shown generalization capabilities in robotic manipulation tasks by inheriting from vision-language models (VLMs) and learning action generation. Most VLA models focus on interpreting vision and…

Visual language is a system of communication that conveys information through symbols, shapes, and spatial arrangements. Diagrams are a typical example of a visual language depicting complex concepts and their relationships in the form of…

Multimodal Large Language Models (MLLMs) have achieved notable gains in various tasks by incorporating Chain-of-Thought (CoT) reasoning in language spaces. Recent work extends this direction by leveraging external tools for visual editing,…

Performing robotic grasping from a cluttered bin based on human instructions is a challenging task, as it requires understanding both the nuances of free-form language and the spatial relationships between objects. Vision-Language Models…

This paper presents a systematic evaluation of state-of-the-art multimodal large language models (MLLMs) on intuitive physics tasks using the GRASP and IntPhys 2 datasets. We assess the open-source models InternVL 2.5, Qwen 2.5 VL,…

Effectively understanding urban scenes requires fine-grained spatial reasoning about objects, layouts, and depth cues. However, how well current vision-language models (VLMs), pretrained on general scenes, transfer these abilities to urban…

This paper introduces HapticVLM, a novel multimodal system that integrates vision-language reasoning with deep convolutional networks to enable real-time haptic feedback. HapticVLM leverages a ConvNeXt-based material recognition module to…

Accurate material recognition is a fundamental capability for intelligent perception systems to interact safely and effectively with the physical world. For instance, distinguishing visually similar objects like glass and plastic cups is…

Multimodal large language models (MLLMs) have achieved impressive performance across various tasks such as image captioning and visual question answer(VQA); however, they often struggle to accurately interpret depth information inherent in…

Multimodal Large Language Models (MLLMs) like GPT-4V are capable of reasoning across text and image modalities, showing promise in a variety of complex vision-language tasks. In this preliminary study, we investigate the out-of-the-box…

Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work,…

Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation arises from training VLMs on static internet-scale…

Accurately predicting human behaviors is crucial for mobile robots operating in human-populated environments. While prior research primarily focuses on predicting actions in single-human scenarios from an egocentric view, several robotic…

Vision-Language Models (VLMs) excel at reasoning in linguistic space but struggle with perceptual understanding that requires dense visual perception, e.g., spatial reasoning and geometric awareness. This limitation stems from the fact that…

Visual-textual understanding is essential for language-guided robot manipulation. Recent works leverage pre-trained vision-language models to measure the similarity between encoded visual observations and textual instructions, and then…