相关论文: MAPS: Preserving Vision-Language Representations v…

Vision-Language-Action (VLA) models commonly adapt pretrained Vision-Language Models (VLMs) to robot control by mapping visual observations and language instructions to continuous actions. Existing approaches typically take an…

Vision and Language Models (VLMs), such as CLIP, have enabled visual recognition of a potentially unlimited set of categories described by text prompts. However, for the best visual recognition performance, these models still require tuning…

Vision-Language-Action (VLA) models remain brittle in long-horizon, contact-rich manipulation because success-only imitation provides little supervision for execution drift, while failed rollouts are often discarded. We introduce RePO-VLA,…

Despite significant progress, Vision-Language Models (VLMs) still struggle with complex visual reasoning, where multi-step dependencies cause early errors to cascade through the reasoning chain. Existing post-training paradigms are limited:…

Benefiting from the powerful capabilities of Large Language Models (LLMs), pre-trained visual encoder models connected to LLMs form Vision Language Models (VLMs). However, recent research shows that the visual modality in VLMs is highly…

Latent Action Models (LAMs) have rapidly gained traction as an important component in the pre-training pipelines of leading Vision-Language-Action models. However, they fail when observations contain action-correlated distractors, often…

Visual Place Recognition (VPR) has evolved from handcrafted descriptors to deep learning approaches, yet significant challenges remain. Current approaches, including Vision Foundation Models (VFMs) and Multimodal Large Language Models…

Continual learning is a long-standing challenge in robot policy learning, where a policy must acquire new skills over time without catastrophically forgetting previously learned ones. While prior work has extensively studied continual…

Large language models (LLMs) have gained increasing popularity in robotic task planning due to their exceptional abilities in text analytics and generation, as well as their broad knowledge of the world. However, they fall short in decoding…

Vision-Language-Action (VLA) models offer a compelling framework for tackling complex robotic manipulation tasks, but they are often expensive to train. In this paper, we propose a novel VLA approach that leverages the competitive…

Multimodal Large Language Models (MLLMs) have significantly advanced visual tasks by integrating visual representations into large language models (LLMs). The textual modality, inherited from LLMs, equips MLLMs with abilities like…

The Large Vision-Language Model (LVLM) has enhanced the performance of various downstream tasks in visual-language understanding. Most existing approaches encode images and videos into separate feature spaces, which are then fed as inputs…

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…

To operate effectively in the real world, robots should integrate multimodal reasoning with precise action generation. However, existing vision-language-action (VLA) models often sacrifice one for the other, narrow their abilities to…

Unconstrained fine-tuning of flow-matching Vision-Language-Action (VLA) models drives dense parameter overwrites, degrading pre-trained capabilities. We present Conservative Supervised Fine-Tuning (ConSFT), an optimization objective that…

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 Models (VLMs) have achieved substantial progress across a wide range of understanding and reasoning tasks, driven by large-scale image-text training aimed at multimodal fusion. Ideally, replacing a textual question with its…

Cooperative multi-agent reinforcement learning (MARL) struggles with sample efficiency, interpretability, and generalization. While Large Language Models (LLMs) offer powerful planning capabilities, their application has been hampered by a…

Large-scale pretraining is fast becoming the norm in Vision-Language (VL) modeling. However, prevailing VL approaches are limited by the requirement for labeled data and the use of complex multi-step pretraining objectives. We present MAGMA…

Vision-and-Language Pre-training (VLP) improves model performance for downstream tasks that require image and text inputs. Current VLP approaches differ on (i) model architecture (especially image embedders), (ii) loss functions, and (iii)…