RoboLab is a new simulation benchmark with 120 tasks across visual, procedural, and relational axes that quantifies generalization gaps and perturbation sensitivity in task-generalist robotic policies.
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PaliGemma: A versatile 3B VLM for transfer
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PaliGemma is an open Vision-Language Model (VLM) that is based on the SigLIP-So400m vision encoder and the Gemma-2B language model. It is trained to be a versatile and broadly knowledgeable base model that is effective to transfer. It achieves strong performance on a wide variety of open-world tasks. We evaluate PaliGemma on almost 40 diverse tasks including standard VLM benchmarks, but also more specialized tasks such as remote-sensing and segmentation.
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- abstract PaliGemma is an open Vision-Language Model (VLM) that is based on the SigLIP-So400m vision encoder and the Gemma-2B language model. It is trained to be a versatile and broadly knowledgeable base model that is effective to transfer. It achieves strong performance on a wide variety of open-world tasks. We evaluate PaliGemma on almost 40 diverse tasks including standard VLM benchmarks, but also more specialized tasks such as remote-sensing and segmentation.
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representative citing papers
Molmo2 delivers state-of-the-art open-weight video VLMs with new grounding datasets and training methods that outperform prior open models and match or exceed some proprietary ones on pointing and tracking tasks.
Molmo VLMs trained on newly collected PixMo open datasets achieve state-of-the-art performance among open-weight models and surpass multiple proprietary VLMs including Claude 3.5 Sonnet and Gemini 1.5 Pro.
Koshur Pixel is the first large-scale synthetic OCR dataset for Kashmiri with 613,078 image-text pairs generated via SynthOCR-Gen from the KS-PRET-5M corpus across multiple fonts and granularities with 25+ augmentations.
DeepLatent introduces a parallel latent visual reasoning framework with learnable 2D tokens and continuous RL, trained via distillation then RL, plus a new 180K dataset, claiming SOTA benchmark results.
GesVLA encodes gesture features directly into the latent space of VLA models using a dual-VLM architecture and a rendering-based data pipeline, yielding improved target grounding in real robotic tasks.
RIO introduces a lightweight open-source framework that abstracts real-time robot I/O to support easy switching between embodiments and platforms for collecting data and deploying VLAs.
Reducing visual input to one token per frame in VLA world models maintains or improves long-horizon performance on MetaWorld, LIBERO, and real-robot tasks.
AT-VLA proposes adaptive tactile injection and a dual-stream tactile reaction mechanism to enhance VLA models for contact-rich robotic manipulation with real-time responses.
MoSS augments VLAs with decoupled modality streams for multiple physical signals, achieving synergistic gains in real-world robot tasks via joint attention and auxiliary future-signal prediction.
SketchVLM lets VLMs generate non-destructive SVG annotations on input images to visually explain answers, raising visual reasoning accuracy by up to 28.5 points and annotation quality by 1.48x over baselines.
Alignment of vision-language models with human V1-V3 early visual cortex negatively predicts resistance to sycophantic gaslighting attacks.
DSCA turns concept isolation into an architectural property by dynamically creating orthogonal subspaces for non-interfering lifelong edits in vision-language models, sustaining over 95% success after 1000 sequential edits.
MixAtlas uses CLIP-based decomposition and Gaussian process optimization on small proxies to discover data mixtures that improve multimodal benchmark performance by up to 17.6% and transfer to larger models with faster convergence.
GeCO replaces time-dependent flow matching with time-unconditional optimization, enabling adaptive inference and intrinsic OOD detection for robotic imitation learning.
AR-VLA introduces a standalone autoregressive action expert with long-lived memory that generates context-aware continuous actions for VLAs, replacing chunk-based heads with smoother trajectories and maintained task success.
SAM 3 introduces promptable concept segmentation that doubles accuracy of prior systems on images and videos while improving standard SAM segmentation performance.
GQR is a test-time optimization technique that refines primary retriever query embeddings using complementary retriever scores to achieve high performance with smaller representations in multimodal visual document retrieval.
SHREC is a new benchmark dataset of embodied human-robot conversations that shows substantial performance gaps in state-of-the-art foundation models on tasks involving social error detection and rationale generation.
VLMs fail at visual counting extrapolation because they cannot project visual magnitudes onto symbolic tokens, despite intact perceptual representations, supporting a fractured magnitude hypothesis.
PARCEL is a new visual tokenization architecture combining pool-anchored resampling with conditioned elastic queries to enhance performance-efficiency tradeoffs in LVLMs over prior matryoshka methods.
Inverse dynamics prediction is added as an auxiliary task to reduce state aliasing in VLA models by directly supervising the vision encoder on action-relevant visual distinctions using only standard observation-action pairs.
TextTeacher uses frozen text embeddings from captions as semantic anchors to guide vision model training, improving ImageNet accuracy by up to 2.7 p.p. and transfer performance by 1.0 p.p. on average.
Reweighting training emphasis toward image-negative tokens and filtering hallucinated data reduces object hallucination in LVLMs across three model variants.
citing papers explorer
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RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
RoboLab is a new simulation benchmark with 120 tasks across visual, procedural, and relational axes that quantifies generalization gaps and perturbation sensitivity in task-generalist robotic policies.
-
Molmo2: Open Weights and Data for Vision-Language Models with Video Understanding and Grounding
Molmo2 delivers state-of-the-art open-weight video VLMs with new grounding datasets and training methods that outperform prior open models and match or exceed some proprietary ones on pointing and tracking tasks.
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Molmo and PixMo: Open Weights and Open Data for State-of-the-Art Vision-Language Models
Molmo VLMs trained on newly collected PixMo open datasets achieve state-of-the-art performance among open-weight models and surpass multiple proprietary VLMs including Claude 3.5 Sonnet and Gemini 1.5 Pro.
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Koshur Pixel: a large-scale synthetic ocr dataset for kashmiri
Koshur Pixel is the first large-scale synthetic OCR dataset for Kashmiri with 613,078 image-text pairs generated via SynthOCR-Gen from the KS-PRET-5M corpus across multiple fonts and granularities with 25+ augmentations.
-
DeepLatent: Think with Images via Parallel Latent Visual Reasoning
DeepLatent introduces a parallel latent visual reasoning framework with learnable 2D tokens and continuous RL, trained via distillation then RL, plus a new 180K dataset, claiming SOTA benchmark results.
-
GesVLA: Gesture-Aware Vision-Language-Action Model Embedded Representations
GesVLA encodes gesture features directly into the latent space of VLA models using a dual-VLM architecture and a rendering-based data pipeline, yielding improved target grounding in real robotic tasks.
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RIO: Flexible Real-Time Robot I/O for Cross-Embodiment Robot Learning
RIO introduces a lightweight open-source framework that abstracts real-time robot I/O to support easy switching between embodiments and platforms for collecting data and deploying VLAs.
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One Token Per Frame: Reconsidering Visual Bandwidth in World Models for VLA Policy
Reducing visual input to one token per frame in VLA world models maintains or improves long-horizon performance on MetaWorld, LIBERO, and real-robot tasks.
-
AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models
AT-VLA proposes adaptive tactile injection and a dual-stream tactile reaction mechanism to enhance VLA models for contact-rich robotic manipulation with real-time responses.
-
Modular Sensory Stream for Integrating Physical Feedback in Vision-Language-Action Models
MoSS augments VLAs with decoupled modality streams for multiple physical signals, achieving synergistic gains in real-world robot tasks via joint attention and auxiliary future-signal prediction.
-
SketchVLM: Vision language models can annotate images to explain thoughts and guide users
SketchVLM lets VLMs generate non-destructive SVG annotations on input images to visually explain answers, raising visual reasoning accuracy by up to 28.5 points and annotation quality by 1.48x over baselines.
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Gaslight, Gatekeep, V1-V3: Early Visual Cortex Alignment Shields Vision-Language Models from Sycophantic Manipulation
Alignment of vision-language models with human V1-V3 early visual cortex negatively predicts resistance to sycophantic gaslighting attacks.
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DSCA: Dynamic Subspace Concept Alignment for Lifelong VLM Editing
DSCA turns concept isolation into an architectural property by dynamically creating orthogonal subspaces for non-interfering lifelong edits in vision-language models, sustaining over 95% success after 1000 sequential edits.
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MixAtlas: Uncertainty-aware Data Mixture Optimization for Multimodal LLM Midtraining
MixAtlas uses CLIP-based decomposition and Gaussian process optimization on small proxies to discover data mixtures that improve multimodal benchmark performance by up to 17.6% and transfer to larger models with faster convergence.
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Generative Control as Optimization: Time Unconditional Flow Matching for Adaptive and Robust Robotic Control
GeCO replaces time-dependent flow matching with time-unconditional optimization, enabling adaptive inference and intrinsic OOD detection for robotic imitation learning.
-
AR-VLA: True Autoregressive Action Expert for Vision-Language-Action Models
AR-VLA introduces a standalone autoregressive action expert with long-lived memory that generates context-aware continuous actions for VLAs, replacing chunk-based heads with smoother trajectories and maintained task success.
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SAM 3: Segment Anything with Concepts
SAM 3 introduces promptable concept segmentation that doubles accuracy of prior systems on images and videos while improving standard SAM segmentation performance.
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Guided Query Refinement: Multimodal Hybrid Retrieval with Test-Time Optimization
GQR is a test-time optimization technique that refines primary retriever query embeddings using complementary retriever scores to achieve high performance with smaller representations in multimodal visual document retrieval.
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Social Human Robot Embodied Conversation (SHREC) Dataset: Benchmarking Foundational Models' Social Reasoning
SHREC is a new benchmark dataset of embodied human-robot conversations that shows substantial performance gaps in state-of-the-art foundation models on tasks involving social error detection and rationale generation.
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Unveiling the Visual Counting Bottleneck in Vision-Language Models
VLMs fail at visual counting extrapolation because they cannot project visual magnitudes onto symbolic tokens, despite intact perceptual representations, supporting a fractured magnitude hypothesis.
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PARCEL: Pool-Anchored Resampling with Conditioned Elastic Queries for Efficient Vision-Language Understanding
PARCEL is a new visual tokenization architecture combining pool-anchored resampling with conditioned elastic queries to enhance performance-efficiency tradeoffs in LVLMs over prior matryoshka methods.
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Mitigating State Aliasing in Vision-Language-Action Models via Inverse Dynamics Learning
Inverse dynamics prediction is added as an auxiliary task to reduce state aliasing in VLA models by directly supervising the vision encoder on action-relevant visual distinctions using only standard observation-action pairs.
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TextTeacher: What Can Language Teach About Images?
TextTeacher uses frozen text embeddings from captions as semantic anchors to guide vision model training, improving ImageNet accuracy by up to 2.7 p.p. and transfer performance by 1.0 p.p. on average.
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Reducing Object Hallucination in LVLMs via Emphasizing Image-negative Tokens
Reweighting training emphasis toward image-negative tokens and filtering hallucinated data reduces object hallucination in LVLMs across three model variants.
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A More Word-like Image Tokenization for MLLMs
DiVT clusters patch embeddings into coherent semantic units and adapts token count to image complexity, matching or exceeding baselines with fewer visual tokens on multimodal benchmarks.
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UAM: A Dual-Stream Perspective on Forgetting in VLA Training
UAM adds a Dorsal Expert initialized from a generative model and trained on visual dynamics prediction to preserve over 95% of VLM multimodal ability in VLA training while achieving top success rates on manipulation tasks including OOD cases.
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20/20 Vision Language Models: A Prescription for Better VLMs through Data Curation Alone
Data curation alone raises VLM accuracy by more than 11 points on average across many benchmarks while cutting required training compute by up to 87 times.
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Distilling 3D Spatial Reasoning into a Lightweight Vision-Language Model with CoT
Distills 3D spatial reasoning from a 7B teacher VLM to a 2.29B student using VGGT encoder, multi-task losses, and Hidden CoT latent tokens, yielding 8.7x lower latency with 54-72% performance retention on ScanNet and 3D-FRONT.
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Where Reliability Lives in Vision-Language Models: A Mechanistic Study of Attention, Hidden States, and Causal Circuits
Attention sharpness barely predicts VLM correctness while hidden-state probes and self-consistency strongly do, with late-fusion models showing fragile reliability bottlenecks unlike early-fusion ones.
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LaST-R1: Reinforcing Robotic Manipulation via Adaptive Physical Latent Reasoning
LaST-R1 introduces a RL post-training method called LAPO that optimizes latent Chain-of-Thought reasoning in vision-language-action models, yielding 99.9% success on LIBERO and up to 22.5% real-world gains.
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MotuBrain: An Advanced World Action Model for Robot Control
MotuBrain jointly models video and action via a three-stream Mixture-of-Transformers UniDiffuser to reach 95.8-96.1% success on RoboTwin 2.0 benchmarks, top EWMScore, and fast 11 Hz inference while adapting to new robots with 50-100 trajectories.
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Breaking Lock-In: Preserving Steerability under Low-Data VLA Post-Training
DeLock mitigates lock-in in low-data VLA post-training via visual grounding preservation and test-time contrastive prompt guidance, outperforming baselines across eight evaluations while matching data-heavy generalist policies.
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Unmasking the Illusion of Embodied Reasoning in Vision-Language-Action Models
State-of-the-art vision-language-action models catastrophically fail dynamic embodied reasoning due to lexical-kinematic shortcuts, behavioral inertia, and semantic feature collapse caused by architectural bottlenecks, as shown by the new BeTTER benchmark with real-world validation.
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ST-$\pi$: Structured SpatioTemporal VLA for Robotic Manipulation
ST-π structures VLA models by having a spatiotemporal VLM produce causally ordered chunk-level prompts that guide a dual-generator action expert to jointly handle spatial and temporal control in robotic manipulation.
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AnchorRefine: Synergy-Manipulation Based on Trajectory Anchor and Residual Refinement for Vision-Language-Action Models
AnchorRefine factorizes VLA action generation into a trajectory anchor for coarse planning and residual refinement for local corrections, improving success rates by up to 7.8% in simulation and 18% on real robots across LIBERO, CALVIN, and physical tasks.
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ViLL-E: Video LLM Embeddings for Retrieval
ViLL-E introduces a dynamic embedding mechanism and joint contrastive-generative training for VideoLLMs, delivering up to 7% gains in temporal localization and 4% in video retrieval while enabling new zero-shot capabilities.
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TIPSv2: Advancing Vision-Language Pretraining with Enhanced Patch-Text Alignment
TIPSv2 improves dense patch-text alignment in vision-language pretraining through distillation and iBOT++ modifications, yielding models on par with or better than recent baselines on 9 tasks across 20 datasets.
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VAG: Dual-Stream Video-Action Generation for Embodied Data Synthesis
VAG is a synchronized dual-stream flow-matching framework that generates aligned video-action pairs for synthetic embodied data synthesis and policy pretraining.
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CoME-VL: Scaling Complementary Multi-Encoder Vision-Language Learning
CoME-VL fuses contrastive and self-supervised vision encoders via entropy-guided multi-layer aggregation and RoPE cross-attention to improve vision-language model performance on benchmarks.
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Multi-View Video Diffusion Policy: A 3D Spatio-Temporal-Aware Video Action Model
MV-VDP jointly predicts multi-view RGB and heatmap videos via diffusion to achieve data-efficient, robust robotic manipulation policies.
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UAV-Track VLA: Embodied Aerial Tracking via Vision-Language-Action Models
UAV-Track VLA modifies the π0.5 VLA architecture with temporal compression and dual-branch decoding to reach 61.76% success and 269.65 average frames in long-distance pedestrian tracking on a new 890K-frame UAV dataset, while cutting inference latency by 33.4%.
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Universal Pose Pretraining for Generalizable Vision-Language-Action Policies
Pose-VLA uses a decoupled two-stage pre-training with discrete pose tokens to extract universal 3D spatial priors from 3D datasets and robotic trajectories, achieving 79.5% success on RoboTwin 2.0 and 96.0% on LIBERO.
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Steerable Vision-Language-Action Policies for Embodied Reasoning and Hierarchical Control
Steerable VLAs trained on rich synthetic commands at subtask, motion, and pixel levels enable VLMs to steer robot behavior more effectively, outperforming prior hierarchical baselines on real-world manipulation and generalization tasks.
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Towards Long-Lived Robots: Continual Learning VLA Models via Reinforcement Fine-Tuning
LifeLong-RFT applies chunking-level on-policy reinforcement learning with Quantized Action Consistency Reward, Continuous Trajectory Alignment Reward, and Format Compliance Reward to fine-tune VLA models, achieving a 22% average success rate gain over supervised fine-tuning on the LIBERO benchmark's
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Vision-aligned Latent Reasoning for Multi-modal Large Language Model
VaLR generates vision-aligned latent tokens before each reasoning step to preserve perceptual cues, improving VSI-Bench accuracy from 33.0% to 52.9%.
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A Pragmatic VLA Foundation Model
LingBot-VLA is a VLA foundation model trained on massive real robot data that shows superior generalization across tasks and platforms with fast training throughput.
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Clutter-Robust Vision-Language-Action Models through Object-Centric and Geometry Grounding
OBEYED-VLA improves VLA robustness in cluttered real-world manipulation by disentangling perception into VLM-based object-centric grounding and geometry-aware stages, then fine-tuning the policy only on single-object demonstrations.
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mimic-video: Video-Action Models for Generalizable Robot Control Beyond VLAs
mimic-video combines internet video pretraining with a flow-matching decoder to achieve state-of-the-art robotic manipulation performance with 10x better sample efficiency than vision-language-action models.
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HiF-VLA: Hindsight, Insight and Foresight through Motion Representation for Vision-Language-Action Models
HiF-VLA improves long-horizon robotic manipulation by encoding past motion as hindsight priors and anticipating future motion through foresight reasoning inside a VLA framework.
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SPEAR-1: Scaling Beyond Robot Demonstrations via 3D Understanding
SPEAR-1 combines a 3D-enriched VLM with embodied control to match or exceed existing robotic foundation models using 20 times fewer robot demonstrations.