相关论文: Igniting VLMs toward the Embodied Space

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…

While recent large vision-language models (VLMs) have improved generalization in vision-language navigation (VLN), existing methods typically rely on end-to-end pipelines that map vision-language inputs directly to short-horizon discrete…

Navigation is a fundamental capability in embodied AI, representing the intelligence required to perceive and interact within physical environments following language instructions. Despite significant progress in large Vision-Language…

Spatial understanding is a critical capability for vision foundation models. While recent advances in large vision models or vision-language models (VLMs) have expanded recognition capabilities, most benchmarks emphasize localization…

To utilize Foundation Vision Language Models (VLMs) for robotic tasks and motion planning, the community has proposed different methods for injecting action components into VLMs and building the Vision-Language-Action models (VLAs). In this…

Discovering effective reward functions remains a fundamental challenge in motor control of high-dimensional musculoskeletal systems. While humans can describe movement goals explicitly such as "walking forward with an upright posture," the…

Spatio-physical reasoning, a foundation capability for understanding the real physics world, is a critical step towards building robust world models. While recent vision language models (VLMs) have shown remarkable progress in specialized…

The human ability to seamlessly perform multimodal reasoning and physical interaction in the open world is a core goal for general purpose embodied intelligent systems. Recent vision-language-action (VLA) models, which are co-trained on…

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities across a wide range of vision-language tasks. However, their performance as embodied agents, which requires multi-round dialogue spatial reasoning and…

Human language is grounded on multimodal knowledge including visual knowledge like colors, sizes, and shapes. However, current large-scale pre-trained language models rely on text-only self-supervised training with massive text data, which…

Visual-language models (VLM) have emerged as a powerful tool for learning a unified embedding space for vision and language. Inspired by large language models, which have demonstrated strong reasoning and multi-task capabilities, visual…

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…

While large language models (LMs) have shown remarkable capabilities across numerous tasks, they often struggle with simple reasoning and planning in physical environments, such as understanding object permanence or planning household…

The exponential growth of large language models (LLMs) has opened up numerous possibilities for multimodal AGI systems. However, the progress in vision and vision-language foundation models, which are also critical elements of multi-modal…

Vision-Language Models (VLMs) still lack robustness in spatial intelligence, demonstrating poor performance on spatial understanding and reasoning tasks. We attribute this gap to the absence of a visual geometry learning process capable of…

The fusion of language and vision in large vision-language models (LVLMs) has revolutionized deep learning-based object detection by enhancing adaptability, contextual reasoning, and generalization beyond traditional architectures. This…

Foundation models, including large language models (LLMs) and vision-language models (VLMs), have recently enabled novel approaches to robot autonomy and human-robot interfaces. In parallel, vision-language-action models (VLAs) or large…

Current large vision-language models (LVLMs) typically employ a connector module to link visual features with text embeddings of large language models (LLMs) and use end-to-end training to achieve multi-modal understanding in a unified…

Vision Language Models (VLMs) have achieved impressive performance in 2D image understanding, however they are still struggling with spatial understanding which is the foundation of Embodied AI. In this paper, we propose SpatialBot for…

Coordinating multiple embodied agents in dynamic environments remains a core challenge in artificial intelligence, requiring both perception-driven reasoning and scalable cooperation strategies. While recent works have leveraged large…