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

As a step towards developing zero-shot task generalization capabilities in reinforcement learning (RL), we introduce a new RL problem where the agent should learn to execute sequences of instructions after learning useful skills that solve…

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…

Vision-and-language navigation (VLN) is a challenging task that requires an agent to navigate in real-world environments by understanding natural language instructions and visual information received in real-time. Prior works have…

Learning generalist embodied agents, able to solve multitudes of tasks in different domains is a long-standing problem. Reinforcement learning (RL) is hard to scale up as it requires a complex reward design for each task. In contrast,…

Visual Reinforcement Learning (Visual RL), coupled with high-dimensional observations, has consistently confronted the long-standing challenge of out-of-distribution generalization. Despite the focus on algorithms aimed at resolving visual…

Guiding the policy of multi-agent reinforcement learning to align with human common sense is a difficult problem, largely due to the complexity of modeling common sense as a reward, especially in complex and long-horizon multi-agent tasks.…

Vision Language Models (VLMs) are designed to extend Large Language Models (LLMs) with visual capabilities, yet in this work we observe a surprising phenomenon: VLMs can outperform their underlying LLMs on purely text-only tasks,…

Language Models and Vision Language Models have recently demonstrated unprecedented capabilities in terms of understanding human intentions, reasoning, scene understanding, and planning-like behaviour, in text form, among many others. In…

In this work, we focus on the problem of grounding language by training an agent to follow a set of natural language instructions and navigate to a target object in an environment. The agent receives visual information through raw pixels…

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…

Recent work on robot manipulation has advanced policy generalization to novel scenarios. However, it is often difficult to characterize how different evaluation settings actually represent generalization from the training distribution of a…

Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…

Recent advances in vision-language models (VLMs) have led to improved performance on tasks such as visual question answering and image captioning. Consequently, these models are now well-positioned to reason about the physical world,…

Visual grounding is a task to locate the target indicated by a natural language expression. Existing methods extend the generic object detection framework to this problem. They base the visual grounding on the features from pre-generated…

Graphical User Interface (GUI) grounding plays a crucial role in enhancing the capabilities of Vision-Language Model (VLM) agents. While general VLMs, such as GPT-4V, demonstrate strong performance across various tasks, their proficiency in…

Reinforcement Learning (RL) has shown great potential in refining robotic manipulation policies, yet its efficacy remains strongly bottlenecked by the difficulty of designing generalizable reward functions. In this paper, we propose a…

We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates…

Recent research looks to harness the general knowledge and reasoning of large language models (LLMs) into agents that accomplish user-specified goals in interactive environments. Vision-language models (VLMs) extend LLMs to multi-modal data…

Visual grounding (VG) occupies a pivotal position in multi-modality vision-language models. In this study, we propose ViLaM, a large multi-modality model, that supports multi-tasks of VG using the cycle training strategy, with abundant…

Visual grounding seeks to localize the image region corresponding to a free-form text description. Recently, the strong multimodal capabilities of Large Vision-Language Models (LVLMs) have driven substantial improvements in visual…