Despite recent advances in deep learning, most existing learning IMU odometry methods are trained on specific datasets, lack generalization, and are prone to overfitting, which limits their real-world application. To address these challenges, we present Tartan IMU, a foundation model designed for generalizable, IMU-based state estimation across diverse robotic platforms. Our approach consists of three-stage: First, a pre-trained foundation model leverages over 100 hours of multi-platform data to establish general motion knowledge, achieving 36% improvement in ATE over specialized models. Second, to adapt to previously unseen tasks, we employ the Low-Rank Adaptation (LoRA), allowing positive transfer with only 1.1 M trainable parameters. Finally, to support robotics deployment, we introduce online test-time adaptation, which eliminates the boundary between training and testing, allowing the model to continuously "learn as it operates" at 200 FPS in real-time.
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Intelligent robots need to interact with diverse objects across various environments. The appearance and state of objects frequently undergo complex transformations depending on the object properties, e.g., phase transitions. However, in the vision community, segmenting dynamic objects with phase transitions is overlooked. In light of this, we introduce the concept of phase in segmentation, which categorizes real-world objects based on their visual characteristics and potential morphological and appearance changes. Then, we present a new benchmark, Multi-Phase, Multi-Transition, and Multi-Scenery Video Object Segmentation (M^3-VOS), to verify the ability of models to understand object phases, which consists of 471 high-resolution videos spanning over 10 distinct everyday scenarios. It provides dense instance mask annotations that capture both object phases and their transitions. We evaluate state-of-the-art methods on M^3-VOS, yielding several key insights. Notably, current appearance-based approaches show significant room for improvement when handling objects with phase transitions. The inherent changes in disorder suggest that the predictive performance of the forward entropy-increasing process can be improved through a reverse entropy-reducing process. These findings lead us to propose ReVOS, a new plug-and-play model that improves its performance by reversal refinement. Our data and code will be publicly available at https://zixuan-chen.github.io/M-cube-VOS.github.io/.
UA-Pose: Uncertainty-Aware 6D Object Pose Estimation and Online Object Completion with Partial References
PDF ↗6D object pose estimation has shown strong generalizability to novel objects. However, existing methods often require either a complete, well-reconstructed 3D model or numerous reference images that fully cover the object. Estimating 6D poses from partial references, which capture only fragments of an object's appearance and geometry, remains challenging. To address this, we propose UA-Pose, an uncertainty-aware approach for 6D object pose estimation and online object completion specifically designed for partial references. We assume access to either (1) a limited set of RGBD images with known poses or (2) a single 2D image. For the first case, we initialize a partial object 3D model based on the provided images and poses, while for the second, we use image-to-3D techniques to generate an initial object 3D model. Our method integrates uncertainty into the incomplete 3D model, distinguishing between seen and unseen regions. This uncertainty enables confidence assessment in pose estimation and guides an uncertainty-aware sampling strategy for online object completion, enhancing robustness in pose estimation accuracy and improving object completeness. We evaluate our method on the YCB-Video, YCBInEOAT, and HO3D datasets, including RGBD sequences of YCB objects manipulated by robots and human hands. Experimental results demonstrate significant performance improvements over existing methods, particularly when object observations are incomplete or partially captured.
Robotic manipulation in embodied AI critically depends on large-scale, high-quality datasets that reflect realistic object interactions and physical dynamics. However, existing data collection pipelines are often slow, expensive, and heavily reliant on manual efforts. We present DynScene, a diffusion-based framework for generating dynamic robotic manipulation scenes directly from textual instructions. Unlike prior methods that focus solely on static environments or isolated robot actions, DynScene decomposes the generation into two phases static scene synthesis and action trajectory generation allowing fine-grained control and diversity. Our model enhances realism and physical feasibility through scene refinement (layout sampling, quaternion quantization) and leverages residual action representation to enable action augmentation, generating multiple diverse trajectories from a single static configuration. Experiments show DynScene achieves 26.8x faster generation, 1.84x higher accuracy, and 28% greater action diversity than human-crafted data. Furthermore, agents trained with DynScene exhibit up to 19.4% higher success rates across complex manipulation tasks. Our approach paves the way for scalable, automated dataset generation in robot learning.
Recently, Vision-Language-Action (VLA) models have demonstrated strong performance on a range of robotic tasks. These models rely on multimodal inputs, with language instructions playing a crucial role-not only in predicting actions, but also in robustly interpreting user intent, even when the requests are impossible to fulfill. In this work, we investigate how VLAs can recognize, interpret, and respond to false-premise instructions-natural language commands that reference objects or conditions absent from the environment. We propose — Instruct-Verify-and-Act (IVA) — a unified framework that (i) detects when an instruction cannot be executed due to a false premise, (ii) engages in language-based clarification or correction, and (iii) grounds plausible alternatives in perception and action. Towards this end, we construct a large-scale instruction tuning setup with structured language prompts and train a VLA model capable of handling both accurate and erroneous requests. Our approach leverages a contextually augmented, semi-synthetic dataset containing paired positive and false-premise instructions, enabling robust detection and natural language correction. Our experiments show that IVA can improves false premise detection accuracy by 58.89% over baselines, while increasing successful responses in false-premise scenarios by 27.89%.
“Where Does This Strange Smell Come from?”: Enabling Conversational Interfaces for Artificial Olfaction
PDF ↗Existing Artificial Olfaction (AO) primarily serves two tasks: Odor Classification (OC) and Odor Source Localization (OSL). Both tasks w.r.t. indoor event detection scenarios are studied either using a single electronic nose (e-nose) mounted on the ceiling or mobile robot(s) equipped with e-noses. However, they are not compatible with smart home scenarios due to diverse obstacles (e.g., chairs and tables) and the need for natural interaction. In this paper, we explore the feasibility and usability of a Conversational Interfaces for Artificial Olfaction (CIAO) system using Large Language Models (LLMs) in Smart Home. We made the first olfaction-oriented corpus for LLM evaluation, as well as an olfaction dataset via a self-developed olfactory sensory network. We train the dedicated models for OSL and OC using the dataset and integrate them into a tool within the MCP (Model Context Protocol) server. Five commercial LLMs are used as MCP clients for experiments and validation. Our experimental results indicate that our CIAO system is technically feasible and applicable. Besides, we observe that ChatGPT-4o relatively outperforms in terms of both answer quality and overall LLM usability in pervasive IoT scenarios. Qwen-Plus, in contrast, appears to be a promising solution for robot-compatible applications. To our knowledge, this work is the first effort to bring forward conversational interfaces for AO, enabling multi-turn conversations with contexts beyond one-off question answering. Our codes and partial corpus are available at https://github.com/HokyeeJau/CIAO.
World models have been widely utilized in robotics, gaming, and autonomous driving. However, their applications to natural language tasks are relatively limited. In this paper, we construct the dialogue world model, which could predict future utterances and user beliefs, including emotion, sentiment, and intention. In this paper, we propose a framework called DreamCUB, which shows that this user belief modeling and the entire dialogue world model can be established by LLM post-training. By defining a POMDP, we apply model-based reinforcement learning to the dialogue system and solve it by maximizing the information bottleneck. Experiments show that the pretrained dialogue world model can achieve state-of-the-art performances on emotion classification and sentiment identification, while dialogue quality is also enhanced by joint training of policy, critic and dialogue world model. Further analysis reveals that DreamCUB holds a reasonable exploration-exploitation balance and also transfers well to out-of-domain scenarios such as empathetic dialogues.
From Grounding to Manipulation: Case Studies of Foundation Model Integration in Embodied Robotic Systems
PDF ↗Foundation models (FMs) are increasingly applied to bridge language and action in embodied agents, yet the operational characteristics of different integration strategies remain under-explored—especially for complex instruction following and versatile action generation in changing environments. We investigate three paradigms for robotic systems: end-to-end vision-language-action models (VLAs) that implicitly unify perception and planning, and modular pipelines using either vision-language models (VLMs) or multimodal large language models (MLLMs). Two case studies frame the comparison: instruction grounding, which probs fine-grained language understanding and cross-modal disambiguation; and object manipulation, which targets skill transfer via VLA finetuning. Our experiments reveal trade-offs in system scale, generalization and data efficiency. These findings indicate design lessons for language-driven physical agents and point to challenges and opportunities for FM-powered robotics in real-world conditions.
Large language models (LLMs) have shown promise in robotic procedural planning, yet their human-centric reasoning often omits the low-level, grounded details needed for robotic execution. Vision-language models (VLMs) offer a path toward more perceptually grounded plans, but current methods either rely on expensive, large-scale models or are constrained to narrow simulation settings. We introduce SelfReVision, a lightweight and scalable self-improvement framework for vision-language procedural planning. SelfReVision enables small VLMs to iteratively critique, revise, and verify their own plans, without external supervision or teacher models, drawing inspiration from chain-of-thought prompting and self-instruct paradigms. Through this self-distillation loop, models generate higher-quality, execution-ready plans that can be used both at inference and for continued fine-tuning. Using models varying from 3B to 72B, our results show that SelfReVision not only boosts performance over weak base VLMs but also outperforms models 100X the size, yielding improved control in downstream embodied tasks.
Randomized smoothing (RS) is one of the prominent techniques to ensure the correctness of machine learning models, where point-wise robustness certificates can be derived analytically. While RS is well understood for classification, its application to generative models is unclear, since their outputs are sequences rather than labels. We resolve this by connecting generative outputs to an oracle classification task and showing that RS can still be enabled: the final response can be classified as a discrete action (e.g., service-robot commands in VLAs), as harmful vs. harmless (content moderation or toxicity detection in VLMs), or even applying oracles to cluster answers into semantically equivalent ones. Provided that the error rate for the oracle classifier comparison is bounded, we develop the theory that associates the number of samples with the corresponding robustness radius. We further derive improved scaling laws analytically relating the certified radius and accuracy to the number of samples, showing that the earlier result of 2 to 3 orders of magnitude fewer samples sufficing with minimal loss remains valid even under weaker assumptions. Together, these advances make robustness certification both well-defined and computationally feasible for state-of-the-art VLMs, as validated against recent jailbreak-style adversarial attacks.
Understanding natural language commands in situated Human-Robot Interaction (HRI) requires linking linguistic input to perceptual context. Traditional symbolic parsers lack the flexibility to operate in complex, dynamic environments. We introduce a novel Multimodal Grounded Semantic Role Labelling (G-SRL) framework that combines frame semantics with perceptual grounding, enabling robots to interpret commands via multimodal logical forms. Our approach leverages modern Visual Language Models (VLLMs), which jointly process text and images, and is supported by an automated pipeline that generates high-quality training data. Structured command annotations are converted into photorealistic scenes via LLM-guided prompt engineering and diffusion models, then rigorously validated through object detection and visual question answering. The pipeline produces over 11,000 image-command pairs (3,500+ manually validated), while approaching the quality of manually curated datasets at significantly lower cost.
Large Language Models (LLMs) are catalyzing a paradigm shift in scientific discovery, evolving from task-specific automation tools into increasingly autonomous agents and fundamentally redefining research processes and human-AI collaboration. This survey systematically charts this burgeoning field, placing a central focus on the changing roles and escalating capabilities of LLMs in science. Through the lens of the scientific method, we introduce a foundational three-level taxonomy—Tool, Analyst, and Scientist—to delineate their escalating autonomy and evolving responsibilities within the research lifecycle. We further identify pivotal challenges and future research trajectories such as robotic automation, self-improvement, and ethical governance. Overall, this survey provides a conceptual architecture and strategic foresight to navigate and shape the future of AI-driven scientific discovery, fostering both rapid innovation and responsible advancement.
Large language models (LLMs) have emerged as powerful tools for developing educational systems. While previous studies have explored modeling student mistakes, a critical gap remains in understanding whether LLMs can generate correct solutions that represent student responses to free-response problems. In this paper, we compare the distribution of solutions produced by four LLMs (one proprietary, two open-sourced general, and one open-sourced math models) with various sampling and prompting techniques and those generated by students, using conversations where students teach math problems to a conversational robot. Our study reveals discrepancies between the correct solutions produced by LLMs and by students. We discuss the practical implications of these findings for the design and evaluation of LLM-supported educational systems.
Astra: Efficient Transformer Architecture and Contrastive Dynamics Learning for Embodied Instruction Following
PDF ↗Vision-language-action models have gained significant attention for their ability to model multimodal sequences in embodied instruction following tasks. However, most existing models rely on causal attention, which we find suboptimal for processing sequences composed of interleaved segments from different modalities. In this paper, we introduce Astra, a novel Transformer architecture featuring trajectory attention and learnable action queries, designed to efficiently process segmented multimodal trajectories and predict actions for imitation learning. Furthermore, we propose a contrastive dynamics learning objective to enhance the model’s understanding of environment dynamics and multimodal alignment, complementing the primary behavior cloning objective. Through extensive experiments on three large-scale robot manipulation benchmarks, Astra demonstrates substantial performance improvements over previous models.
Individual Large Language Models (LLMs) have demonstrated significant capabilities across various domains, such as healthcare and law. Recent studies also show that coordinated multi-agent systems exhibit enhanced decision-making and reasoning abilities through collaboration. However, due to the vulnerabilities of individual LLMs and the difficulty of accessing all agents in a multi-agent system, a key question arises: If attackers only know one agent, could they still generate adversarial samples capable of misleading the collective decision?To explore this question, we formulate it as a game with incomplete information, where attackers know only one target agent and lack knowledge of the other agents in the system. With this formulation, we propose M-Spoiler, a framework that simulates agent interactions within a multi-agent system to generate adversarial samples. These samples are then used to manipulate the target agent in the target system, misleading the system’s collaborative decision-making process.More specifically, M-Spoiler introduces a stubborn agent that actively aids in optimizing adversarial samples by simulating potential stubborn responses from agents in the target system. This enhances the effectiveness of the generated adversarial samples in misleading the system.Through extensive experiments across various tasks, our findings confirm the risks posed by the knowledge of an individual agent in multi-agent systems and demonstrate the effectiveness of our framework.We also explore several defense mechanisms, showing that our proposed attack framework remains more potent than baselines, underscoring the need for further research into defensive strategies.
ModalPrompt: Towards Efficient Multimodal Continual Instruction Tuning with Dual-Modality Guided Prompt
PDF ↗Large Multimodal Models (LMMs) exhibit remarkable multi-tasking ability by learning mixed instruction datasets. However, novel tasks would be encountered sequentially in dynamic world, which urges for equipping LMMs with multimodal continual instruction learning (MCIT) ability especially for diverse and challenging generative tasks. Existing MCIT methods do not fully exploit the unique attribute of LMMs and often gain performance at the expense of efficiency. In this paper, we propose a novel prompt learning framework for MCIT to effectively alleviate forgetting of previous knowledge while managing computational complexity with natural image-text supervision. Concretely, we learn prompts for each task and exploit efficient prompt fusion for knowledge transfer and prompt selection for complexity management with dual-modality guidance. Extensive experiments demonstrate that our approach achieves substantial +14.26% performance gain on MCIT benchmarks with remarkable x1.42 inference speed free from growing computation.
Cache-Efficient Posterior Sampling for Reinforcement Learning with LLM-Derived Priors Across Discrete and Continuous Domains
PDF ↗Integrating large language models (LLMs) as action proposers in reinforcement learning (RL) significantly boosts performance in text-based environments but incurs prohibitive computational costs. We introduce a cache-efficient framework for Bayesian RL that leverages LLM-derived action suggestions, drastically reducing these costs while maintaining near-optimal performance. Our approach features an adaptive caching mechanism, optimized via meta-learning based on policy performance, to enable efficient inference across text-based games (e.g., TextWorld, ALFWorld) and robotic control tasks (e.g., MuJoCo, MetaWorld). This framework achieves a 3.8\times–4.7\times reduction in LLM queries and 4.0\times–12.0\times lower median latencies (85–93ms on consumer hardware), while retaining 96–98% of the uncached policy’s performance. We provide theoretical guarantees on the reliability of cached decisions with Kullback-Leibler (KL) divergence bounds, which are validated empirically by high success rates (90.4–95.6%) in complex text environments. For offline RL, our proposed CQL-Prior variant improves performance by 14–29% and reduces training time by 38–40%. Evaluations across eight diverse tasks demonstrate the framework’s generalizability and practicality for resource-constrained settings, making LLM-guided RL a viable and accessible approach for both text-based and robotic applications.
Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can’t large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in vision-language-action models (VLA), we identify two key challenges: spurious forgetting, where robot training overwrites crucial visual-text alignments, and task interference, where competing control and understanding tasks degrade performance when trained jointly. To overcome these limitations, we propose ChatVLA, a novel framework featuring Phased Alignment Training, which incrementally integrates multimodal data after initial control mastery, and a Mixture-of-Experts architecture to minimize task interference. ChatVLA demonstrates competitive performance on visual question-answering datasets and significantly surpasses state-of-the-art vision-language-action (VLA) methods on multimodal understanding benchmarks. Notably, it achieves a six times higher performance on MMMU and scores 47.2% on MMStar with a more parameter-efficient design than ECoT. Furthermore, ChatVLA demonstrates superior performance on 25 real-world robot manipulation tasks compared to existing VLA methods like OpenVLA. Our findings highlight the potential of our unified framework for achieving both robust multimodal understanding and effective robot control.
Traditional robot simulators focus on physical process modeling and realistic rendering, often suffering from high computational costs, inefficiencies, and limited adaptability. To handle this issue, we concentrate on behavior simulation in robotics to analyze and validate the logic behind robot behaviors, aiming to achieve preliminary evaluation before deploying resource-intensive simulators and thus enhance simulation efficiency. In this paper, we propose BeSimulator, a modular and novel LLM-powered framework, as an attempt towards behavior simulation in the context of text-based environments. By constructing text-based virtual environments and performing semantic-level simulation, BeSimulator can generalize across scenarios and achieve long-horizon complex simulation. Inspired by human cognition paradigm, it employs a “consider-decide-capture-transfer” four-phase simulation process, termed Chain of Behavior Simulation (CBS), which excels at analyzing action feasibility and state transition. Additionally, BeSimulator incorporates code-driven reasoning to enable arithmetic operations and enhance reliability, and reflective feedback to refine simulation. Based on our manually constructed behavior-tree-based simulation benchmark, BTSIMBENCH, our experiments show a significant performance improvement in behavior simulation compared to baselines, ranging from 13.60% to 24.80%. Code and data are available at https://github.com/Dawn888888/BeSimulator.
Applications · Robotics
Ultrasound (US) is a widely used medical imaging modality due to its real-time capabilities, non-invasive nature, and cost-effectiveness. By reducing operator dependency and enhancing access to complex anatomical regions, robotic ultrasound can help improve workflow efficiency. Recent studies have demonstrated the potential of deep reinforcement learning (DRL) and imitation learning (IL) to enable more autonomous and intelligent robotic ultrasound navigation. However, the application of learning-based robotic ultrasound to computer-assisted surgical tasks, such as anatomy reconstruction and surgical guidance, remains largely unexplored. A key bottleneck for this is the lack of realistic and efficient simulation environments tailored to these tasks. In this work, we present SonoGym, a scalable simulation platform for robotic ultrasound, enabling parallel simulation across tens to hundreds of environments. Our framework supports realistic and real-time simulation of US data from CT-derived 3D models of the anatomy through both a physics-based and a Generative Adversarial Network (GAN) approach. Our framework enables the training of DRL and recent IL agents (vision transformers and diffusion policies) for relevant tasks in robotic orthopedic surgery by integrating common robotic platforms and orthopedic end effectors. We further incorporate submodular DRL---a recent method that handles history-dependent rewards---for anatomy reconstruction and safe reinforcement learning for surgery. Our results demonstrate successful policy learning across a range of scenarios, while also highlighting the limitations of current methods in clinically relevant environments. We believe our simulation can facilitate research in robot learning approaches for such challenging robotic surgery applications. Dataset, codes and videos are publicly available at https://sonogym.github.io/.