相关论文: GST-VLA: Structured Gaussian Spatial Tokens for 3D…

We propose to improve the time-sensitive video understanding (TSV) capability of video large language models (Video-LLMs) with grounded objects (GO). We hypothesize that TSV tasks can benefit from GO within frames, which is supported by our…

Self-attention in Transformers is typically implemented as $\mathrm{softmax}(QK^\top/\sqrt{d})V$, where $Q=XW_Q$, $K=XW_K$, and $V=XW_V$ are learned linear projections of the input $X$. We ask whether these learned projections are…

While vision language models (VLMs) excel in 2D semantic visual understanding, their ability to quantitatively reason about 3D spatial relationships remains under-explored, due to the deficiency of 2D images' spatial representation ability.…

Vision-Language-Action (VLA) models have demonstrated strong multi-modal reasoning capabilities, enabling direct action generation from visual perception and language instructions in an end-to-end manner. However, their substantial…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for generalist robotic control. Built upon vision-language model (VLM) architectures, VLAs predict actions conditioned on visual observations and language…

Large models based on the Transformer architecture are susceptible to extreme-token phenomena, such as attention sinks and value-state drains. These issues, which degrade model performance, quantization fidelity, and interpretability, arise…

We introduce GSU, a text-only grid dataset to evaluate the spatial reasoning capabilities of LLMs over 3 core tasks: navigation, object localization, and structure composition. By forgoing visual inputs, isolating spatial reasoning from…

Chunked vision-language-action (VLA) policies predict multi-step robot controls, conditioning each update on the current visual observation alone. Yet robot actions cause contact, occlusion, and object motion, and the geometry that later…

Recently, linear complexity sequence modeling networks have achieved modeling capabilities similar to Vision Transformers on a variety of computer vision tasks, while using fewer FLOPs and less memory. However, their advantage in terms of…

Object navigation is a core capability of embodied intelligence, enabling an agent to locate target objects in unknown environments. Recent advances in vision-language models (VLMs) have facilitated zero-shot object navigation (ZSON).…

Visual imitation learning frameworks allow robots to learn manipulation skills from expert demonstrations. While existing approaches mainly focus on policy design, they often neglect the structure and capacity of visual encoders, limiting…

Monocular depth estimation is a central problem in computer vision with applications in robotics, AR, and autonomous driving, yet the self-attention mechanisms that drive modern Transformer architectures remain opaque. We introduce…

3D Gaussian Splatting (3DGS) has shown its ability in rapid rendering and high-fidelity mapping. In this paper, we introduce LVI-GS, a tightly-coupled LiDAR-Visual-Inertial mapping framework with 3DGS, which leverages the complementary…

Vision-language-action (VLA) models show potential for general robotic tasks, but remain challenging in spatiotemporally coherent manipulation, which requires fine-grained representations. Typically, existing methods embed 3D positions into…

Real-time immersive video communications, particularly high-fidelity 3D telepresence, necessitates a synergistic balance between instantaneous dynamic scene reconstruction and high-efficiency data transmission. While recent advancements in…

We present GR3D, a spatial vision language model equipped with three complementary grounding capabilities--explicit 2D grounding, implicit 2D grounding, and monocular 3D grounding--within a single framework. GR3D introduces an implicit…

Successful generalist Vision-Language-Action (VLA) models rely on effective training across diverse robotic platforms with large-scale, cross-embodiment, heterogeneous datasets. To facilitate and leverage the heterogeneity in rich, diverse…

Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availability of dense,…

Dimensionality reduction algorithms map high-dimensional data into visualizable 2D or 3D spaces, but traditionally rely on a discrete point-cloud paradigm. This discrete abstraction is susceptible to visual occlusion and artificial…

Reconstructing static 3D scene from monocular video with dynamic objects is important for numerous applications such as virtual reality and autonomous driving. Current approaches typically rely on background for static scene reconstruction,…