相关论文: Universal Visuo-Tactile Video Understanding for Em…

Contact-rich manipulation tasks, such as wiping and assembly, require accurate perception of contact forces, friction changes, and state transitions that cannot be reliably inferred from vision alone. Despite growing interest in…

Tactile information is a critical tool for dexterous manipulation. As humans, we rely heavily on tactile information to understand objects in our environments and how to interact with them. We use touch not only to perform manipulation…

Vision-language models (VLMs) have demonstrated strong performance in 2D scene understanding and generation, but extending this unification to the physical world remains an open challenge. Existing 3D and 4D approaches typically embed scene…

Visual language tracking (VLT) has emerged as a cutting-edge research area, harnessing linguistic data to enhance algorithms with multi-modal inputs and broadening the scope of traditional single object tracking (SOT) to encompass video…

We present Video-LLaMA a multi-modal framework that empowers Large Language Models (LLMs) with the capability of understanding both visual and auditory content in the video. Video-LLaMA bootstraps cross-modal training from the frozen…

Large language models (LLMs) have shown remarkable text understanding capabilities, which have been extended as Video LLMs to handle video data for comprehending visual details. However, existing Video LLMs can only provide a coarse…

There is a growing interest in applying large language models (LLMs) in robotic tasks, due to their remarkable reasoning ability and extensive knowledge learned from vast training corpora. Grounding LLMs in the physical world remains an…

Large language models (LLMs) are, by design, inherently capable of multi-task learning: through a unified next-token prediction paradigm, they can naturally address a wide variety of downstream tasks. Prior work in the motion domain has…

With the advancement of multi-modal Large Language Models (LLMs), Video LLMs have been further developed to perform on holistic and specialized video understanding. However, existing works are limited to specialized video understanding…

Robotic manipulation has seen rapid progress with vision-language-action (VLA) policies. However, visuo-tactile perception is critical for contact-rich manipulation, as tasks such as insertion are difficult to complete robustly using vision…

Video-Language Models (VLMs) have demonstrated impressive multi-modal reasoning capabilities across diverse computer vision applications. However, these VLMs are task-specific and assume that both video and language inputs are complete.…

Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently, they struggle with contact-rich manipulation tasks that…

Tactile representation learning (TRL) equips robots with the ability to leverage touch information, boosting performance in tasks such as environment perception and object manipulation. However, the heterogeneity of tactile sensors results…

The advent of Multimodal Large Language Models (MLLMs) has expanded AI capabilities to visual modalities, yet existing evaluation benchmarks remain limited to single-video understanding, overlooking the critical need for multi-video…

Language models~(LMs) gradually become general-purpose interfaces in the interactive and embodied world, where the understanding of physical concepts is an essential prerequisite. However, it is not yet clear whether LMs can understand…

Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set large language models (LLMs) learn during pretraining. Vision,…

Despite significant advances in Multimodal Large Language Models (MLLMs), understanding complex temporal dynamics in videos remains a major challenge. Our experiments show that current Video Large Language Model (Video-LLM) architectures…

Visual texts embedded in videos carry rich semantic information, which is crucial for both holistic video understanding and fine-grained reasoning about local human actions. However, existing video understanding benchmarks largely overlook…

We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the…

Despite significant progress in multimodal language models (LMs), it remains unclear whether visual grounding enhances their understanding of embodied knowledge compared to text-only models. To address this question, we propose a novel…