相关论文: Vision-and-Language Training Helps Deploy Taxonomi…

Vision language pre-training aims to learn alignments between vision and language from a large amount of data. Most existing methods only learn image-text alignments. Some others utilize pre-trained object detectors to leverage vision…

Large language models (LLMs) have demonstrated that large-scale pretraining enables systems to adapt rapidly to new problems with little supervision in the language domain. This success, however, has not translated as effectively to the…

Latent Action Models (LAMs) have rapidly gained traction as an important component in the pre-training pipelines of leading Vision-Language-Action models. However, they fail when observations contain action-correlated distractors, often…

Through a controlled study, we identify a systematic deficiency in the multimodal grounding of Vision Language Models (VLMs). While VLMs can recall factual associations when provided a textual reference to an entity; their ability to do so…

Fine-tuning vision-language models (VLMs) on robot teleoperation data to create vision-language-action (VLA) models is a promising paradigm for training generalist policies, but it suffers from a fundamental tradeoff: learning to produce…

The remarkable advancements of vision and language foundation models in multimodal understanding, reasoning, and generation has sparked growing efforts to extend such intelligence to the physical world, fueling the flourishing of…

Recent studies on Vision-Language-Action (VLA) models have shifted from the end-to-end action-generation paradigm toward a pipeline involving task planning followed by action generation, demonstrating improved performance on various…

Spatial intelligence requires visual representations that capture both semantic objects and geometric structure in the physical world. To support this, two major pre-training schemes are now widely used as foundation backbones:…

Vision-Language-Action Models (VLAs) have shown remarkable progress towards embodied intelligence. While their architecture partially resembles that of Large Language Models (LLMs), VLAs exhibit higher complexity due to their multi-modal…

Vision-language-action (VLA) models provide a powerful approach to training control policies for physical systems, such as robots, by combining end-to-end learning with transfer of semantic knowledge from web-scale vision-language model…

Recent advancements in Large Language Models (LLMs) and their multimodal extensions (MLLMs) have substantially enhanced machine reasoning across diverse tasks. However, these models predominantly rely on pure text as the medium for both…

Most pre-trained Vision-Language (VL) models and training data for the downstream tasks are only available in English. Therefore, multilingual VL tasks are solved using cross-lingual transfer: fine-tune a multilingual pre-trained model or…

Vision-Language-Action (VLA) models, which integrate pretrained large Vision-Language Models (VLM) into their policy backbone, are gaining significant attention for their promising generalization capabilities. This paper revisits a…

Artificial intelligence has made great progress in recent years, particularly in the development of Vision--Language Models (VLMs) that understand both visual and textual data. However, these advancements remain largely limited to English,…

This paper shows that text-only Language Models (LM) can learn to ground spatial relations like "left of" or "below" if they are provided with explicit location information of objects and they are properly trained to leverage those…

Vision-language-action (VLA) models extend vision-language models (VLM) by integrating action generation modules for robotic manipulation. Leveraging the strengths of VLM in vision perception and instruction understanding, VLA models…

We initiate the first empirical study on the use of MLP architectures for vision-and-language (VL) fusion. Through extensive experiments on 5 VL tasks and 5 robust VQA benchmarks, we find that: (i) Without pre-training, using MLPs for…

Human vision is able to compensate imperfections in sensory inputs from the real world by reasoning based on prior knowledge about the world. Machine learning has had a significant impact on computer vision due to its inherent ability in…

Vision Language Models (VLMs) are increasingly deployed across downstream tasks, yet their training data often encode social biases that surface in outputs. Unlike humans, who interpret images through contextual and social cues, VLMs…

With extensive pre-trained knowledge and high-level general capabilities, large language models (LLMs) emerge as a promising avenue to augment reinforcement learning (RL) in aspects such as multi-task learning, sample efficiency, and…