相关论文: TC-IDM: Grounding Video Generation for Executable …

Solving long-horizon tasks requires robots to integrate high-level semantic reasoning with low-level physical interaction. While vision-language models (VLMs) and video generation models can decompose tasks and imagine outcomes, they often…

Zero-shot, training-free, image-based text-to-video generation is an emerging area that aims to generate videos using existing image-based diffusion models. Current methods in this space require specific architectural changes to image…

Generalization is a central challenge in autonomous driving, as real-world deployment requires robust performance under unseen scenarios, sensor domains, and environmental conditions. Recent world-model-based planning methods have shown…

Image-text matching (ITM) aims to address the fundamental challenge of aligning visual and textual modalities, which inherently differ in their representations, continuous, high-dimensional image features vs. discrete, structured text. We…

State-of-the-art Vision-Language Models (VLMs) ground the vision and the language modality primarily via projecting the vision tokens from the encoder to language-like tokens, which are directly fed to the Large Language Model (LLM)…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Vision-Language-Action (VLA) models demonstrate promising generalization in robotic manipulation, driven by advances in large-scale vision and language pre-training. This progress can be misleading. Despite the zero-shot perception and…

Vision-Language-Action (VLA) models represent a pivotal advance in embodied intelligence, yet they confront critical barriers to real-world deployment, most notably catastrophic forgetting. This issue stems from their overreliance on…

Visual grounding (VG) occupies a pivotal position in multi-modality vision-language models. In this study, we propose ViLaM, a large multi-modality model, that supports multi-tasks of VG using the cycle training strategy, with abundant…

3D visual grounding is crucial for robots, requiring integration of natural language and 3D scene understanding. Traditional methods depending on supervised learning with 3D point clouds are limited by scarce datasets. Recently zero-shot…

Vision-language-action (VLA) models finetuned from vision-language models (VLMs) hold the promise of leveraging rich pretrained representations to build generalist robots across diverse tasks and environments. However, direct fine-tuning on…

Vision-Language Models (VLM) can generate plausible high-level plans when prompted with a goal, the context, an image of the scene, and any planning constraints. However, there is no guarantee that the predicted actions are geometrically…

Vision-Language-Action (VLA) models have emerged as a generalist robotic agent. However, existing VLAs are hindered by excessive parameter scales, prohibitive pre-training requirements, and limited applicability to diverse embodiments. To…

This work highlights that video world modeling, alongside vision-language pre-training, establishes a fresh and independent foundation for robot learning. Intuitively, video world models provide the ability to imagine the near future by…

In contact-rich tasks, while position trajectories are often easy to obtain, appropriate force commands are typically unknown. Although it is conceivable to generate force commands using a pretrained foundation model such as…

Vision-Language-Action models have recently emerged as a powerful paradigm for general-purpose robot learning, enabling agents to map visual observations and natural-language instructions into executable robotic actions. Though popular,…

We present a novel image editing scenario termed Text-grounded Object Generation (TOG), defined as generating a new object in the real image spatially conditioned by textual descriptions. Existing diffusion models exhibit limitations of…

Many Vision-Language-Action (VLA) models are built upon an internal world model trained via next-frame prediction ``$v_t \rightarrow v_{t+1}$''. However, this paradigm attempts to predict the future frame's appearance directly, without…

Vision-language-action models have emerged as a crucial paradigm in robotic manipulation. However, existing VLA models exhibit notable limitations in handling ambiguous language instructions and unknown environmental states. Furthermore,…

Existing video-language pre-training methods primarily focus on instance-level alignment between video clips and captions via global contrastive learning but neglect rich fine-grained local information in both videos and text, which is of…