相关论文: VisionLaw: Inferring Interpretable Intrinsic Dynam…

Prevalent Vision-Language-Action (VLA) models are typically built upon Multimodal Large Language Models (MLLMs) and demonstrate exceptional proficiency in semantic understanding, but they inherently lack the capability to deduce physical…

Despite deep learning (DL) has achieved remarkable progress in various domains, the DL models are still prone to making mistakes. This issue necessitates effective debugging tools for DL practitioners to interpret the decision-making…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Robot manipulation critically depends on perception that preserves the action-relevant aspects of a scene. Yet most robot learning pipelines are built upon visual encoders pre-trained for static recognition or vision-language alignment,…

Analyzing signals arising from dynamical systems typically requires many modeling assumptions and parameter estimation. In high dimensions, this modeling is particularly difficult due to the "curse of dimensionality". In this paper, we…

Despite the remarkable success of Multimodal Large Language Models (MLLMs) across diverse tasks, the internal mechanisms governing how they encode and ground distinct visual concepts remain poorly understood. To bridge this gap, we propose…

Humans intuitively recognize objects' physical properties and predict their motion, even when the objects are engaged in complicated interactions. The abilities to perform physical reasoning and to adapt to new environments, while intrinsic…

Conventional video classification models, acting as effective imitators, excel in scenarios with homogeneous data distributions. However, real-world applications often present an open-instance challenge, where intra-class variations are…

Despite the success of Large Vision--Language Models (LVLMs), most existing architectures suffer from a representation bottleneck: they rely on static, instruction-agnostic vision encoders whose visual representations are utilized in an…

Decoding human visual neural representations is a challenging task with great scientific significance in revealing vision-processing mechanisms and developing brain-like intelligent machines. Most existing methods are difficult to…

We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates…

Virtual character animation control is a problem for which Reinforcement Learning (RL) is a viable approach. While current work have applied RL effectively to portray physics-based skills, social behaviours are challenging to design reward…

Traditional control and planning for robotic manipulation heavily rely on precise physical models and predefined action sequences. While effective in structured environments, such approaches often fail in real-world scenarios due to…

To fully understand, analyze, and determine the behavior of dynamical systems, it is crucial to identify their intrinsic modal coordinates. In nonlinear dynamical systems, this task is challenging as the modal transformation based on the…

Dynamical models underpin our ability to understand and predict the behavior of natural systems. Whether dynamical models are developed from first-principles derivations or from observational data, they are predicated on our choice of state…

Learning physical dynamics in a series of non-stationary environments is a challenging but essential task for model-based reinforcement learning (MBRL) with visual inputs. It requires the agent to consistently adapt to novel tasks without…

A fundamental challenge in artificial intelligence involves understanding the cognitive mechanisms underlying visual reasoning in sophisticated models like Vision-Language Models (VLMs). How do these models integrate visual perception with…

Identifying underlying governing equations and physical relevant information from high-dimensional observable data has always been a challenge in physical sciences. With the recent advances in sensing technology and available datasets,…

Vision-Language-Action (VLA) models have emerged as a promising framework that unifies perception, reasoning, and control for robot manipulation by adapting pretrained vision-language models (VLMs) to action prediction. However, VLM-derived…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…