5 papers
Pose6DAug: Physically Plausible Multi-view Object Swapping for Robot Data Augmentation
Jonghoon Lee, Seong Hyeon Park, Byungwoo Jeon +2
Vision-language-action (VLA) policies have shown strong potential for general-purpose manipulation, yet they often fail on novel, out-of-distribution objects whose appearance or ge…
Cog3DMap: Multi-View Vision-Language Reasoning with 3D Cognitive Maps
Chanyoung Gwak, Yoonwoo Jeong, Byungwoo Jeon +3
Precise spatial understanding from multi-view images remains a fundamental challenge for Multimodal Large Language Models (MLLMs), as their visual representations are predominantly…
SpatialBoost: Enhancing Visual Representation through Language-Guided Reasoning
Byungwoo Jeon, Dongyoung Kim, Huiwon Jang +2
Despite the remarkable success of large-scale pre-trained image representation models (i.e., vision encoders) across various vision tasks, they are predominantly trained on 2D imag…
Vision-aligned Latent Reasoning for Multi-modal Large Language Model
Byungwoo Jeon, Yoonwoo Jeong, Hyunseok Lee +2
Despite recent advancements in Multi-modal Large Language Models (MLLMs) on diverse understanding tasks, these models struggle to solve problems which require extensive multi-step…
Hierarchical Vision Language Action Model Using Success and Failure Demonstrations
Jeongeun Park, Jihwan Yoon, Byungwoo Jeon +6
Prior Vision-Language-Action (VLA) models are typically trained on teleoperated successful demonstrations, while discarding numerous failed attempts that occur naturally during dat…