相关论文: Visual Grounding for Object-Level Generalization i…

Current visual grounding models are either based on a Multimodal Large Language Model (MLLM) that performs auto-regressive decoding, which is slow and risks hallucinations, or on re-aligning an LLM with vision features to learn new special…

Recent advances in vision-language models (VLMs) and reinforcement learning (RL) have driven progress in GUI automation. However, most existing methods rely on static, one-shot visual inputs and passive perception, lacking the ability to…

Vision models trained on multimodal datasets can benefit from the wide availability of large image-caption datasets. A recent model (CLIP) was found to generalize well in zero-shot and transfer learning settings. This could imply that…

Reinforcement learning (RL) agents can learn to solve complex tasks from visual inputs, but generalizing these learned skills to new environments remains a major challenge in RL application, especially robotics. While data augmentation can…

3D Visual Grounding (3DVG) is an essential capability for embodied AI, requiring agents to localize objects in 3D scenes based on natural language descriptions. Recent zero-shot methods leverage 2D vision-language models (LVLMs). However,…

Next Location Prediction is a fundamental task in the study of human mobility, with wide-ranging applications in transportation planning, urban governance, and epidemic forecasting. In practice, when humans attempt to predict the next…

Recent works successfully leveraged Large Language Models' (LLM) abilities to capture abstract knowledge about world's physics to solve decision-making problems. Yet, the alignment between LLMs' knowledge and the environment can be wrong…

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of…

Deep reinforcement learning (RL) can acquire complex behaviors from low-level inputs, such as images. However, real-world applications of such methods require generalizing to the vast variability of the real world. Deep networks are known…

In this paper, we explore the utilization of natural language to drive transfer for reinforcement learning (RL). Despite the wide-spread application of deep RL techniques, learning generalized policy representations that work across domains…

The goal of object-centric representation learning is to decompose visual scenes into a structured representation that isolates the entities. Recent successes have shown that object-centric representation learning can be scaled to…

Visual dialog is challenging since it needs to answer a series of coherent questions based on understanding the visual environment. How to ground related visual objects is one of the key problems. Previous studies utilize the question and…

Post-training Vision-Language-Action (VLA) models via reinforcement learning (RL) in learned world models has emerged as an effective strategy to adapt to new tasks without costly real-world interactions. However, while using imagined…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

The fusion of language and vision in large vision-language models (LVLMs) has revolutionized deep learning-based object detection by enhancing adaptability, contextual reasoning, and generalization beyond traditional architectures. This…

The skill of pivoting an object with a robotic system is challenging for the external forces that act on the system, mainly given by contact interaction. The complexity increases when the same skills are required to generalize across…

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…

Humans can collaborate and complete tasks based on visual signals and instruction from the environment. Training such a robot is difficult especially due to the understanding of the instruction and the complicated environment. Previous…

Object insertion is a classic contact-rich manipulation task. The task remains challenging, especially when considering general objects of unknown geometry, which significantly limits the ability to understand the contact configuration…

One promise that Vision-Language-Action (VLA) models hold over traditional imitation learning for robotics is to leverage the broad generalization capabilities of large Vision-Language Models (VLMs) to produce versatile, "generalist" robot…