5 papers
PEARL: Personalized Streaming Video Understanding Model
Yuanhong Zheng, Ruichuan An, Xiaopeng Lin +10
Human cognition of new concepts is inherently a streaming process: we continuously recognize new objects or identities and update our memories over time. However, current multimoda…
Interactive World Simulator for Robot Policy Training and Evaluation
Yixuan Wang, Rhythm Syed, Fangyu Wu +7
Action-conditioned video prediction models (often referred to as world models) have shown strong potential for robotics applications, but existing approaches are often slow and str…
CoCo: Code as CoT for Text-to-Image Preview and Rare Concept Generation
Haodong Li, Chunmei Qing, Huanyu Zhang +11
Recent advancements in Unified Multimodal Models (UMMs) have significantly advanced text-to-image (T2I) generation, particularly through the integration of Chain-of-Thought (CoT) r…
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity
Guang Yin, Yitong Li, Yixuan Wang +6
Natural language instructions for robotic manipulation tasks often exhibit ambiguity and vagueness. For instance, the instruction "Hang a mug on the mug tree" may involve multiple…
BaB-ND: Long-Horizon Motion Planning with Branch-and-Bound and Neural Dynamics
Keyi Shen, Jiangwei Yu, Jose Barreiros +2
Neural-network-based dynamics models learned from observational data have shown strong predictive capabilities for scene dynamics in robotic manipulation tasks. However, their inhe…