相关论文: Provable Ordering and Continuity in Vision-Languag…

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…

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

The vision-language navigation (VLN) task requires an agent to reach a target with the guidance of natural language instruction. Previous works learn to navigate step-by-step following an instruction. However, these works may fail to…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

Image-based visual-language (I-VL) pre-training has shown great success for learning joint visual-textual representations from large-scale web data, revealing remarkable ability for zero-shot generalisation. This paper presents a simple but…

We aim to investigate whether end-to-end learning of visual reasoning can be achieved with general-purpose neural networks, with the help of visual pretraining. A positive result would refute the common belief that explicit visual…

Vision-Language Navigation (VLN) is a challenging task which requires an agent to align complex visual observations to language instructions to reach the goal position. Most existing VLN agents directly learn to align the raw directional…

Visual and linguistic pre-training aims to learn vision and language representations together, which can be transferred to visual-linguistic downstream tasks. However, there exists semantic confusion between language and vision during the…

Real-world robotic tasks often require agents to achieve sequences of goals while respecting time-varying safety constraints. However, standard Reinforcement Learning (RL) paradigms are fundamentally limited in these settings. A natural…

The emerging vision-and-language navigation (VLN) problem aims at learning to navigate an agent to the target location in unseen photo-realistic environments according to the given language instruction. The main challenges of VLN arise…

Continual learning enables pre-trained generative vision-language models (VLMs) to incorporate knowledge from new tasks without retraining data from previous ones. Recent methods update a visual projector to translate visual information for…

Language-conditioned manipulation facilitates human-robot interaction via behavioral cloning (BC), which learns control policies from human demonstrations and serves as a cornerstone of embodied AI. Overcoming compounding errors in…

Predicting temporal progress from visual trajectories is important for intelligent robots that can learn, adapt, and improve. However, learning such progress estimator, or temporal value function, across different tasks and domains requires…

Vision-Language Navigation (VLN) is a challenging task that requires an embodied agent to perform action-level modality alignment, i.e., make instruction-asked actions sequentially in complex visual environments. Most existing VLN agents…

Open-Vocabulary Temporal Action Localization (OVTAL) enables a model to recognize any desired action category in videos without the need to explicitly curate training data for all categories. However, this flexibility poses significant…

Temporal Action Localization (TAL) requires identifying both the boundaries and categories of actions in untrimmed videos. While vision-language models (VLMs) offer rich semantics to complement visual evidence, existing approaches tend to…

Generalist Vision-Language-Action models are currently hindered by the scarcity of robotic data compared to the abundance of human video demonstrations. Existing Latent Action Models attempt to leverage video data but often suffer from…

Vision-language models (VLMs) such as CLIP demonstrate strong performance but struggle when adapted to downstream tasks. Prompt learning has emerged as an efficient and effective strategy to adapt VLMs while preserving their pre-trained…

Vision-Language-Action models have emerged as essential generalist robot policies for diverse manipulation tasks, conventionally relying on directly translating multimodal inputs into actions via Vision-Language Model embeddings. Recent…