14 accepted papers
Leveraging pretrained Vision-Language Models (VLMs) to map language instruction and visual observations to raw low-level actions, Vision-Language-Action models (VLAs) hold great promise for achieving general-purpose robotic systems. Despite their advancements, existing VLAs tend to spuriously correl…
The Model Context Protocol (MCP) standardizes how large language model (LLM) agents discover, describe, and call external tools. While MCP unlocks broad interoperability, it also enlarges the attack surface by making tools first-class, composable objects with natural-language metadata, and standardi…
Generalist robot policies, or robotic foundation models, hold immense potential to enable flexible, general-purpose and dexterous robotic systems. Despite their advancements, our empirical experiments reveal that existing robot policies are prone to learning spurious correlations from pre-training t…
Sora unveils the potential of scaling Diffusion Transformer (DiT) for generating photorealistic images and videos at arbitrary resolutions, aspect ratios, and durations, yet it still lacks sufficient implementation details. In this paper, we introduce the Lumina-T2X family -- a series of Flow-based…
Generalist robot policies trained on large-scale datasets such as Open X-Embodiment (OXE) demonstrate strong performance across a wide range of tasks. However, they often struggle to generalize beyond the distribution of their training data. In this paper, we investigate the underlying cause of this…
The automatic control of mobile devices is essential for efficiently performing complex tasks that involve multiple sequential steps. However, these tasks pose significant challenges due to the limited environmental information available at each step, primarily through visual observations. As a resu
Instruction tuning demonstrates impressive performance in adapting Multimodal Large Language Models (MLLMs) to follow task instructions and improve generalization ability. By extending tuning across diverse tasks, MLLMs can further enhance their understanding of world knowledge and instruction inte…
Lumina-T2X is a nascent family of Flow-based Large Diffusion Transformers (Flag-DiT) that establishes a unified framework for transforming noise into various modalities, such as images and videos, conditioned on text instructions. Despite its promising capabilities, Lumina-T2X still encounters chall…
Model fusing has always been an important topic, especially in an era where large language models (LLM) and multi-modal language models (MLM) with different architectures, parameter sizes and training pipelines, are being created all the time. In this work, we propose a post-hoc framework, aiming at…
Few-shot classification consists of a training phase where a model is learned on a relatively large dataset and an adaptation phase where the learned model is adapted to previously-unseen tasks with limited labeled samples. In this paper, we empirically prove that the training algorithm and the adap…
Test-time task adaptation in few-shot learning aims to adapt a pre-trained task-agnostic model for capturing task-specific knowledge of the test task, rely only on few-labeled support samples. Previous approaches generally focus on developing advanced algorithms to achieve the goal, while neglecting…
Few-shot learning (FSL) targets at generalization of vision models towards unseen tasks without sufficient annotations. Despite the emergence of a number of few-shot learning methods, the sample selection bias problem, i.e., the sensitivity to the limited amount of support data, has not been well un…
Few-Shot Learning (FSL) requires vision models to quickly adapt to brand-new classification tasks with a shift in task distribution. Understanding the difficulties posed by this task distribution shift is central to FSL. In this paper, we show that a simple channel-wise feature transformation may be…
The category gap between training and evaluation has been characterised as one of the main obstacles to the success of Few-Shot Learning (FSL). In this paper, we for the first time empirically identify image background, common in realistic images, as a shortcut knowledge helpful for in-class classif…