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

This paper surveys vision-language pre-training (VLP) methods for multimodal intelligence that have been developed in the last few years. We group these approaches into three categories: ($i$) VLP for image-text tasks, such as image…

Video action localization aims to find the timings of specific actions from a long video. Although existing learning-based approaches have been successful, they require annotating videos, which comes with a considerable labor cost. This…

Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparatively little in…

Pre-trained vision-language-action (VLA) models offer a promising foundation for generalist robot policies, but often produce brittle behaviors or unsafe failures when deployed zero-shot in out-of-distribution scenarios. We present…

Long videos, characterized by temporal complexity and sparse task-relevant information, pose significant reasoning challenges for AI systems. Although existing Large Language Model (LLM)-based approaches have advanced long video…

Reinforcement learning (RL) fine-tuning has shown promise for Vision-Language-Action (VLA) models in robotic manipulation, but deployment-time visual shifts pose practical challenges. A key difficulty is that standard task rewards supervise…

Vision-Language-Action (VLA) models have achieved significant breakthroughs by leveraging Large Vision Language Models (VLMs) to jointly interpret instructions and visual inputs. However, the substantial increase in visual tokens,…

In recent years, instruction-tuned Large Multimodal Models (LMMs) have been successful at several tasks, including image captioning and visual question answering; yet leveraging these models remains an open question for robotics. Prior LMMs…

Vision-Language-Action (VLA) models show promising ability in language-guided robotic tasks. However, making VLA policies reliable remains challenging, because a manipulation task is completed through closed-loop interaction, where each…

Recent Video-Language Models (VLMs) achieve promising results on long-video understanding, but their performance still lags behind that achieved on tasks involving images or short videos. This has led to great interest in improving the long…

Vision-Language Models (VLMs) demonstrate remarkable general-purpose capabilities but often fall short in specialized domains such as medical imaging or geometric problem-solving. Supervised Fine-Tuning (SFT) can enhance performance within…

Large vision language models (VLMs) combine large language models with vision encoders, demonstrating promise across various tasks. However, they often underperform in task-specific applications due to domain gaps between pre-training and…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for robotic manipulation, in which reliable action prediction critically depends on accurately interpreting and integrating visual observations conditioned on…

Vision-language pre-training (VLP) methods are blossoming recently, and its crucial goal is to jointly learn visual and textual features via a transformer-based architecture, demonstrating promising improvements on a variety of…

Vision-Language-Action (VLA) models typically map visual observations and linguistic instructions directly to control signals. This "black-box" mapping forces a single forward pass to simultaneously handle instruction interpretation,…

Multimodal language models (MLMs) still face challenges in fundamental visual perception tasks where specialized models excel. Tasks requiring reasoning about 3D structures benefit from depth estimation, and reasoning about 2D object…

Despite the remarkable progress of Multimodal Large Language Models (MLLMs) in 2D vision-language tasks, their application to complex 3D scene manipulation remains underexplored. In this paper, we bridge this critical gap by tackling three…

Autonomous navigation in highly constrained environments remains challenging for mobile robots. Classical navigation approaches offer safety assurances but require environment-specific parameter tuning; end-to-end learning bypasses…

In recent years, the parameters of backbones of Video Understanding tasks continue to increase and even reach billion-level. Whether fine-tuning a specific task on the Video Foundation Model or pre-training the model designed for the…

A crucial capability of real-world intelligent agents is their ability to plan a sequence of actions to achieve their goals in the visual world. In this work, we address the problem of visual semantic planning: the task of predicting a…