相关论文: Enhancing Visual Planning with Auxiliary Tasks and…

Vision Language Models (VLMs) have recently been leveraged to generate robotic actions, forming Vision-Language-Action (VLA) models. However, directly adapting a pretrained VLM for robotic control remains challenging, particularly when…

Reinforcement learning based post-training paradigms for Video Large Language Models (VideoLLMs) have achieved significant success by optimizing for visual-semantic tasks such as captioning or VideoQA. However, while these approaches…

Vision-Language-Action (VLA) models provide a promising paradigm for robot learning by integrating visual perception with language-guided policy learning. However, most existing approaches rely on 2D visual inputs to perform actions in 3D…

Current multimodal large language models (MLLMs) struggle with fine-grained or precise understanding of visuals although they give comprehensive perception and reasoning in a spectrum of vision applications. Recent studies either develop…

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…

Vision and Language Pretraining has become the prevalent approach for tackling multimodal downstream tasks. The current trend is to move towards ever larger models and pretraining datasets. This computational headlong rush does not seem…

Vision-Language-Action systems follow instructions to execute multi-step tasks in multimodal environments. Recent VLA approaches typically rely on post-hoc correction mechanisms or operate under fixed task decompositions and alignment…

Large language models such as GPT and Llama are trained with a next-token prediction loss. In this work, we suggest that training language models to predict multiple future tokens at once results in higher sample efficiency. More…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for embodied intelligence, enabling robots to perform tasks based on natural language instructions and current visual input. However, existing VLA models struggle with…

Equipping embodied agents with commonsense is important for robots to successfully complete complex human instructions in general environments. Recent large language models (LLM) can embed rich semantic knowledge for agents in plan…

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…

While Large Language Models (LLMs) excel at reasoning on text and Vision-Language Models (VLMs) are highly effective for visual perception, applying those models for visual instruction-based planning remains a widely open problem. In this…

Vision-language-action models (VLAs) have become an increasingly popular approach for addressing robot manipulation problems in recent years. However, such models need to output actions at a rate suitable for robot control, which limits the…

General-purpose robots require decision-making models that generalize across diverse tasks and environments. Recent works build robot foundation models by extending multimodal large language models (MLLMs) with action outputs, creating…

Procedure planning requires a model to predict a sequence of actions that transform a start visual observation into a goal in instructional videos. While most existing methods rely primarily on visual observations as input, they often…

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…

Video understanding with multimodal large language models (MLLMs) remains challenging due to the long token sequences of videos, which contain extensive temporal dependencies and redundant frames. Existing approaches typically treat MLLMs…

An elusive goal in navigation research is to build an intelligent agent that can understand multimodal instructions including natural language and image, and perform useful navigation. To achieve this, we study a widely useful category of…

The video reasoning ability of multimodal large language models (MLLMs) is crucial for downstream tasks like video question answering and temporal grounding. While recent approaches have explored text-based chain-of-thought (CoT) reasoning…

Visual analytics (VA) requires analysts to iteratively propose analysis tasks based on observations and execute tasks by creating visualizations and interactive exploration to gain insights. This process demands skills in programming, data…