10 papers · 1 filter
NarrativeFlow: Flow-Based Vision-Language-Action Model Using Robot Velocity Fields
Shota Kobayashi, Koki Seno, Daichi Yashima +1
We focus on language-conditioned flow-based manipulation, where robot flows (robot velocity fields) serve as embodiment-agnostic, motion-centric representations for leveraging data…
Rigel: Self-Distilled Score Adaptation for Image and Video Captioning Evaluation
Shuitsu Koyama, Kazuki Matsuda, Yuiga Wada +3
Automatic evaluation of image and video captioning is essential for benchmarking multimodal systems, although standard evaluation metrics show limited alignment with human judgment…
Flow as Flow: Modeling Robot Velocity Fields as Probability Velocity Fields for Flow-Based Object Manipulation
Koki Seno, Daichi Yashima, Yusuke Takagi +2
Cross-embodiment data have become central to training robotic foundation models. To leverage such heterogeneous data, we focus on flow-based object manipulation, where robot flows…
ELSA: Acoustic Event-Level Semantic Alignment for Fine-Grained Reference-Free Text-to-Audio Evaluation
Shuntaro Suzuki, Kento Tokura, Daichi Yashima +3
Text-to-audio (TTA) generation, synthesizing audio from natural language, has been widely studied for its ability to capture precise user intent. To effectively advance TTA models,…
MLLM-as-a-Judge Exhibits Model Preference Bias
Shuitsu Koyama, Yuiga Wada, Daichi Yashima +1
Automatic evaluation using multimodal large language models (MLLMs), commonly referred to as MLLM-as-a-Judge, has been widely used to measure model performance. If such MLLM-as-a-J…
ABMAMBA: Multimodal Large Language Model with Aligned Hierarchical Bidirectional Scan for Efficient Video Captioning
Daichi Yashima, Shuhei Kurita, Yusuke Oda +3
In this study, we focus on video captioning by fully open multimodal large language models (MLLMs). The comprehension of visual sequences is challenging because of their intricate…
HiFlow: Tokenization-Free Scale-Wise Autoregressive Policy Learning via Flow Matching
Daichi Yashima, Koki Seno, Shuhei Kurita +2
Coarse-to-fine autoregressive modeling has recently shown strong promise for visuomotor policy learning, combining the inference efficiency of autoregressive methods with the globa…
AnolisVLA: Lightweight Vision-Language-Action Model with Deep State Space Models for Mobile Manipulation
Yusuke Takagi, Motonari Kambara, Daichi Yashima +3
In this study, we address the problem of language-guided robotic manipulation, where a robot is required to manipulate a wide range of objects based on visual observations and natu…
NaiLIA: Multimodal Nail Design Retrieval Based on Dense Intent Descriptions and Palette Queries
Kanon Amemiya, Daichi Yashima, Kei Katsumata +4
We focus on the task of retrieving nail design images based on dense intent descriptions, which represent multi-layered user intent for nail designs. This is challenging because su…
ReMoRa: Multimodal Large Language Model based on Refined Motion Representation for Long-Video Understanding
Daichi Yashima, Shuhei Kurita, Yusuke Oda +1
While multimodal large language models (MLLMs) have shown remarkable success across a wide range of tasks, long-form video understanding remains a significant challenge. In this st…