24 accepted papers
Understanding the capability bottlenecks of embodied multimodal large language models (MLLMs) is crucial for improvement. However, existing embodied benchmarks fail to provide actionable insights because they focus on task-level evaluation rather than discovering capability bottlenecks. To address t…
Multi-task manipulation policy often builds on transformer's ability to jointly process language instructions and 3D observations in a shared embedding space. However, real-world tasks frequently require robots to generalize to novel 3D object poses. Policies based on shared embedding break geometri…
We present Generalizable Hierarchical Skill Learning (GSL), a novel framework for hierarchical policy learning that improves policy generalization and sample efficiency in robot manipulation. One core idea of GSL is to use object-centric skills as an interface that bridges the high-level vision-lang
In this paper, we tackle the Aerial Vision-and-Dialog Navigation (AVDN) task in the training-free setting for resource-efficient high-altitude UAV navigation.Naively applying MLLMs leads to unreliable navigation due to weak directional grounding and the lack of explicit spatial memory.To address the
The rapid progress of large vision-language models (VLMs), such as CLIP, has spurred the development of a wide range of neural decoding frameworks. Nevertheless, most existing approaches still suffer from semantic mismatches during representational alignment. This challenge may stem from the fact th…
Neural decoding has recently made significant progress in reconstructing images and text from brain activity, yet seeking biologically valid semantic alignment between artificial models and the brain remains challenging. Large pre-trained foundation models such as CLIP excel at capturing rich semant…
Brain-computer interfaces have shown great potential in motor and speech rehabilitation, but still suffer from low performance stability across days, mostly due to the instabilities in neural signals. These instabilities, partially caused by neuron deaths and electrode shifts, leading to channel-lev…
Denoising diffusion probabilistic models (DDPMs) have gained popularity in devising neural vocoders and obtained outstanding performance. However, existing DDPM-based neural vocoders struggle to handle the prosody diversities due to their susceptibility to mode-collapse issues confronted with imbala…
Neural decoding, which transforms neural signals into motor commands, plays a key role in brain-computer interfaces (BCIs). Existing neural decoding approaches mainly rely on the assumption of independent noises, which could perform poorly in case the assumption is invalid. However, correlations in…
The primary goal of brain-computer interfaces (BCIs) is to establish a direct linkage between neural activities and behavioral actions via neural decoders. Due to the nonstationary property of neural signals, BCIs trained on one day usually obtain degraded performance on other days, hindering the us…
Answering questions with Chain-of-Thought (CoT) has significantly enhanced the reasoning capabilities of Large Language Models (LLMs), yet its impact on Large Multimodal Models (LMMs) still lacks a systematic assessment and in-depth investigation. In this paper, we introduce **MME-CoT**, a specializ…
3D assembly tasks, such as furniture assembly and component fitting, play a crucial role in daily life and represent essential capabilities for future home robots. Existing benchmarks and datasets predominantly focus on assembling geometric fragments or factory parts, which fall short in addressing…
How our brain encodes complex concepts has been a longstanding mystery in neuroscience. The answer to this problem can lead to new understandings about how the brain retrieves information in large-scale data with high efficiency and robustness. Neuroscience studies suggest the brain represents conce…
We introduce Mind Artist (MindArt) a novel and efficient neural decoding architecture to snap artistic photographs from our mind in a controllable manner. Recently progress has been made in image reconstruction with non-invasive brain recordings but it's still difficult to generate realistic images…
Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced contextual reasoning for grasping strategies. ThinkGrasp can…
Autoregressive language modeling (ALM) has been successfully used in self-supervised pre-training in Natural language processing (NLP). However, this paradigm has not achieved comparable results with other self-supervised approaches in computer vision (e.g., contrastive learning, masked image modeli…
Brain-computer Interface (BCI) builds a neural signal to the motor command pathway, which is a prerequisite for the realization of neural prosthetics. However, a long-term stable BCI suffers from the neural data drift across days while retraining the BCI decoder is expensive and restricts its applic…
Decoding seen images from brain activities has been an absorbing field. However, the reconstructed images still suffer from low quality with existing studies. This can be because our visual system is not like a camera that ''remembers'' every pixel. Instead, only part of the information can be perce…
Slipping may cause a vehicle out of control with serious accident potential. However, a kind of car slipping named “drifting” can be seen in professional contests. So, it is reasonable to apply drift maneuvers in autonomous driving. This article proposes a controller for the particular driving skill…
Neural sequence detection plays a vital role in neuroscience research. Recent impressive works utilize convolutive nonnegative matrix factorization and Neyman-Scott process to solve this problem. However, they still face two limitations. Firstly, they accommodate the entire dataset into memory and p…
Neural signals are typical nonstationary data where the functional mapping between neural activities and the intentions (such as the velocity of movements) can occasionally change. Existing studies mostly use a fixed neural decoder, thus suffering from an unstable performance given neural functional…
Reconstructing seeing images from fMRI recordings is an absorbing research area in neuroscience and provides a potential brain-reading technology. The challenge lies in that visual encoding in brain is highly complex and not fully revealed. Inspired by the theory that visual features are hierarchica…
Brain-computer interfaces (BCIs) have enabled prosthetic device control by decoding motor movements from neural activities. Neural signals recorded from cortex exhibit nonstationary property due to abrupt noises and neuroplastic changes in brain activities during motor control. Current state-of-the-…
Automatic seizure identification plays an important role in epilepsy evaluation. Most existing methods regard seizure identification as a classification problem and rely on labelled training set. However, labelling seizure onset is very expensive and seizure data for each individual is especially li…