相关论文: Igniting VLMs toward the Embodied Space

Vision-language navigation requires agents to reason and act under constraints of embodiment. While vision-language models (VLMs) demonstrate strong generalization, current benchmarks provide limited understanding of how embodiment -- i.e.,…

Accurately estimating task progress is critical for embodied agents to plan and execute long-horizon, multi-step tasks. Despite promising advances, existing Vision-Language Models (VLMs) based methods primarily leverage their video…

Learning generalist embodied agents, able to solve multitudes of tasks in different domains is a long-standing problem. Reinforcement learning (RL) is hard to scale up as it requires a complex reward design for each task. In contrast,…

This paper introduces VLAP, a novel approach that bridges pretrained vision models and large language models (LLMs) to make frozen LLMs understand the visual world. VLAP transforms the embedding space of pretrained vision models into the…

Foundation models have transformed machine learning for language and vision, but achieving comparable impact in physical simulation remains a challenge. Data heterogeneity and unstable long-term dynamics inhibit learning from sufficiently…

Embodied agents face a critical dilemma that end-to-end models lack interpretability and explicit 3D reasoning, while modular systems ignore cross-component interdependencies and synergies. To bridge this gap, we propose the Dynamic 3D…

Large unimodal foundation models for vision and language encode rich semantic structures, yet aligning them typically requires computationally intensive multimodal fine-tuning. Such approaches depend on large-scale parameter updates, are…

Robot learning holds tremendous promise to unlock the full potential of flexible, general, and dexterous robot systems, as well as to address some of the deepest questions in artificial intelligence. However, bringing robot learning to the…

In complex embodied long-horizon manipulation tasks, effective task decomposition and execution require synergistic integration of textual logical reasoning and visual-spatial imagination to ensure efficient and accurate operation. Current…

Vision-Language Pre-training (VLP) has advanced the performance of many vision-language tasks, such as image-text retrieval, visual entailment, and visual reasoning. The pre-training mostly utilizes lexical databases and image queries in…

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:…

Large language models (LLMs) have proven their remarkable versatility in handling a comprehensive range of language-centric applications. To expand LLMs' capabilities to a broader spectrum of modal inputs, multimodal large language models…

Pretrained vision-language models (VLMs) can make semantic and visual inferences across diverse settings, providing valuable common-sense priors for robotic control. However, effectively grounding this knowledge in robot behaviors remains…

Existing vision-language-action (VLA) models act in 3D real-world but are typically built on 2D encoders, leaving a spatial reasoning gap that limits generalization and adaptability. Recent 3D integration techniques for VLAs either require…

Connecting text and visual modalities plays an essential role in generative intelligence. For this reason, inspired by the success of large language models, significant research efforts are being devoted to the development of Multimodal…

Vision-Language Models (VLMs) exhibit impressive performance, yet the integration of powerful vision encoders has significantly broadened their attack surface, rendering them increasingly susceptible to jailbreak attacks. However, lacking…

Recent studies suggest that transformer-based vision-language models (VLMs) capture the multimodality of concept processing in the human brain. However, a systematic evaluation exploring different types of VLM architectures and the role…

Vision language models (VLMs) exhibit vast knowledge of the physical world, including intuition of physical and spatial properties, affordances, and motion. With fine-tuning, VLMs can also natively produce robot trajectories. We demonstrate…

Large vision-language models (VLMs) have shown promising capabilities in scene understanding, enhancing the explainability of driving behaviors and interactivity with users. Existing methods primarily fine-tune VLMs on on-board multi-view…

Multimodal Large Language Models (MLLMs) have demonstrated a wide range of capabilities across many domains, including Embodied AI. In this work, we study how to best ground a MLLM into different embodiments and their associated action…