相关论文: SPA: 3D Spatial-Awareness Enables Effective Embodi…

The architecture of multimodal large language models (MLLMs) commonly connects a vision encoder, often based on CLIP-ViT, to a large language model. While CLIP-ViT works well for capturing global image features, it struggles to model local…

Spatial reasoning in 3D scenes requires precise geometric calculations that challenge vision-language models. Visual programming addresses this by decomposing problems into steps calling specialized tools, yet existing methods rely on…

One of the central challenges preventing robots from acquiring complex manipulation skills is the prohibitive cost of collecting large-scale robot demonstrations. In contrast, humans are able to learn efficiently by watching others interact…

This manuscript explores multimodal alignment, translation, fusion, and transference to enhance machine understanding of complex inputs. We organize the work into five chapters, each addressing unique challenges in multimodal machine…

Vision-language-action (VLA) models integrate visual observations and language instructions to predict robot actions, demonstrating promising generalization in manipulation tasks. However, most existing approaches primarily rely on direct…

Unsupervised domain adaptation (UDA) is a pivotal form in machine learning to extend the in-domain model to the distinctive target domains where the data distributions differ. Most prior works focus on capturing the inter-domain…

A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…

Robotic perception is becoming a key technology for navigation aids, especially helping individuals with visual impairments through spatial sonification. This paper introduces a mapping representation that accurately captures scene geometry…

We introduce RoboBrain 2.0, our latest generation of embodied vision-language foundation models, designed to unify perception, reasoning, and planning for complex embodied tasks in physical environments. It comes in two variants: a…

Pre-training has become a standard paradigm in many computer vision tasks. However, most of the methods are generally designed on the RGB image domain. Due to the discrepancy between the two-dimensional image plane and the three-dimensional…

Annotating 3D LiDAR point clouds for perception tasks is fundamental for many applications e.g., autonomous driving, yet it still remains notoriously labor-intensive. Pretraining-finetuning approach can alleviate the labeling burden by…

Large vision-language models (VLMs) excel at multimodal understanding but fall short when extended to embodied tasks, where instructions must be transformed into low-level motor actions. We introduce ST4VLA, a dual-system…

Embodied intelligence aims to enable robots to learn, reason, and generalize robustly across complex real-world environments. However, existing approaches often struggle with partial observability, fragmented spatial reasoning, and…

We launch EVA, a vision-centric foundation model to explore the limits of visual representation at scale using only publicly accessible data. EVA is a vanilla ViT pre-trained to reconstruct the masked out image-text aligned vision features…

Recent advances in large-scale pretraining have yielded visual foundation models with strong capabilities. Not only can recent models generalize to arbitrary images for their training task, their intermediate representations are useful for…

We propose Continuous Scene Representations (CSR), a scene representation constructed by an embodied agent navigating within a space, where objects and their relationships are modeled by continuous valued embeddings. Our method captures…

Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…

A central objective in computer vision is to design models with appropriate 2-D inductive bias. Desiderata for 2D inductive bias include two-dimensional position awareness, dynamic spatial locality, and translation and permutation…

Spatial reasoning remains a fundamental challenge for Vision-Language Models (VLMs), with current approaches struggling to achieve robust performance despite recent advances. We identify that this limitation stems from a critical gap:…

Enhancing the spatial perception capabilities of mobile robots is crucial for achieving embodied Vision-and-Language Navigation (VLN). Although significant progress has been made in simulated environments, directly transferring these…