RoboFactory: Exploring Embodied Agent Collaboration with Compositional Constraints

Designing effective embodied multi-agent systems is critical for solving complex real-world tasks across domains. Due to the complexity of multi-agent embodied systems, existing methods fail to automatically generate safe and efficient training data for such systems. To this end, we propose the concept of compositional constraints for embodied multi-agent systems, addressing the challenges arising from collaboration among embodied agents. We design various interfaces tailored to different types of constraints, enabling seamless interaction with the physical world. Leveraging compositional constraints and specifically designed interfaces, we develop an automated data collection framework for embodied multi-agent systems and introduce the first benchmark for embodied multi-agent manipulation, RoboFactory. Based on RoboFactory benchmark, we adapt and evaluate the method of imitation learning and analyzed its performance in different difficulty agent tasks. Furthermore, we explore the architectures and training strategies for multi-agent imitation learning, aiming to build safe and efficient embodied multi-agent systems.

DriveGEN: Generalized and Robust 3D Detection in Driving via Controllable Text-to-Image Diffusion Generation

In autonomous driving, vision-centric 3D detection aims to identify 3D objects from images. However, high data collection costs and diverse real-world scenarios limit the scale of training data. Once distribution shifts occur between training and test data, existing methods often suffer from performance degradation, known as Out-of-Distribution (OOD) problems. To address this, controllable Text-to-Image (T2I) diffusion offers a potential solution for training data enhancement, which is required to generate diverse OOD scenarios with precise 3D object geometry. Nevertheless, existing controllable T2I approaches are restricted by the limited scale of training data or struggle to preserve all annotated 3D objects. In this paper, we present DriveGEN, a method designed to improve the robustness of 3D detectors in Driving via Training-Free Controllable Text-to-Image Diffusion Generation. Without extra diffusion model training, DriveGEN consistently preserves objects with precise 3D geometry across diverse OOD generations, consisting of 2 stages: 1) Self-Prototype Extraction: We empirically find that self-attention features are semantic-aware but require accurate region selection for 3D objects. Thus, we extract precise object features via layouts to capture 3D object geometry, termed self-prototypes. 2) Prototype-Guided Diffusion: To preserve objects across various OOD scenarios, we perform semantic-aware feature alignment and shallow feature alignment during denoising. Extensive experiments demonstrate the effectiveness of DriveGEN in improving 3D detection. The code is available at https://github.com/Hongbin98/DriveGEN.

Semantic-Supervised Spatial-Temporal Fusion for LiDAR-based 3D Object Detection

LiDAR-based 3D object detection presents significant challenges due to the inherent sparsity of LiDAR points. A common solution involves long-term temporal LiDAR data to densify the inputs. However, efficiently leveraging spatial-temporal information remains an open problem. In this paper, we propose a novel Semantic-Supervised Spatial-Temporal Fusion (ST-Fusion) method, which introduces a novel fusion module to relieve the spatial misalignment caused by the object motion over time and a feature-level semantic supervision to sufficiently unlock the capacity of the proposed fusion module. Specifically, the ST-Fusion consists of a Spatial Aggregation (SA) module and a Temporal Merging (TM) module. The SA module employs a convolutional layer with progressively expanding receptive fields to aggregate the object features from the local regions to alleviate the spatial misalignment, the TM module dynamically extracts object features from the preceding frames based on the attention mechanism for a comprehensive sequential presentation. Besides, in the semantic supervision, we propose a Semantic Injection method to enrich the sparse LiDAR data via injecting the point-wise semantic labels, using it for training a teacher model and providing a reconstruction target at the feature level supervised by the proposed object-aware loss. Extensive experiments on various LiDAR-based detectors demonstrate the effectiveness and universality of our proposal, yielding an improvement of approximately +2.8% in NDS based on the nuScenes benchmark.

Unlock the Power of Unlabeled Data in Language Driving Model

Recent Vision-based Large Language Models~(VisionLLMs) for autonomous driving have seen rapid advancements. However, such promotion is extremely dependent on large-scale high-quality annotated data, which is costly and labor-intensive. To address this issue, we propose unlocking the value of abundant yet unlabeled data to improve the language-driving model in a semi-supervised learning manner. Specifically, we first introduce a series of template-based prompts to extract scene information, generating questions that create pseudo-answers for the unlabeled data based on a model trained with limited labeled data. Next, we propose a Self-Consistency Refinement method to improve the quality of these pseudo-annotations, which are later used for further training. By utilizing a pre-trained VisionLLM (e.g., InternVL), we build a strong Language Driving Model (LDM) for driving scene question-answering, outperforming previous state-of-the-art methods. Extensive experiments on the DriveLM benchmark show that our approach performs well with just 5% labeled data, achieving competitive performance against models trained with full datasets. In particular, our LDM achieves 44.85% performance with limited labeled data, increasing to 54.27% when using unlabeled data, while models trained with full datasets reach 60.68% on the DriveLM benchmark.

NavigateDiff: Visual Predictors are Zero-Shot Navigation Assistants

Navigating unfamiliar environments presents significant challenges for household robots, requiring the ability to recognize and reason about novel decoration and layout. Existing reinforcement learning methods cannot be directly transferred to new environments, as they typically rely on extensive mapping and exploration, leading to time-consuming and inefficient. To address these challenges, we try to transfer the logical knowledge and the generalization ability of pre-trained foundation models to zero-shot navigation. By integrating a large vision-language model with a diffusion network, our approach named \mname ~constructs a visual predictor that continuously predicts the agent's potential observations in the next step which can assist robots generate robust actions. Furthermore, to adapt the temporal property of navigation, we introduce temporal historical information to ensure that the predicted image is aligned with the navigation scene. We then carefully designed an information fusion framework that embeds the predicted future frames as guidance into goal-reaching policy to solve downstream image navigation tasks. This approach enhances navigation control and generalization across both simulated and real-world environments. Through extensive experimentation, we demonstrate the robustness and versatility of our method, showcasing its potential to improve the efficiency and effectiveness of robotic navigation in diverse settings.

Motion-X++: A Large-Scale Multimodal 3D Whole-body Human Motion Dataset

In this paper, we introduce Motion-X++, a large-scale multimodal 3D expressive whole-body human motion dataset. Existing motion datasets predominantly capture body-only poses, lacking facial expressions, hand gestures, and fine-grained pose descriptions, and are typically limited to lab settings with manually labeled text descriptions, thereby restricting their scalability. To address this issue, we develop a scalable annotation pipeline that can automatically capture 3D whole-body human motion and comprehensive textural labels from RGB videos and build the Motion-X dataset comprising 81.1K text-motion pairs. Furthermore, we extend Motion-X into Motion-X++ by improving the annotation pipeline, introducing more data modalities, and scaling up the data quantities. Motion-X++ provides 19.5M 3D whole-body pose annotations covering 120.5K motion sequences from massive scenes, 80.8K RGB videos, 45.3K audios, 19.5M frame-level whole-body pose descriptions, and 120.5K sequence-level semantic labels. Comprehensive experiments validate the accuracy of our annotation pipeline and highlight Motion-X++'s significant benefits for generating expressive, precise, and natural motion with paired multimodal labels supporting several downstream tasks, including text-driven whole-body motion generation,audio-driven motion generation, 3D whole-body human mesh recovery, and 2D whole-body keypoints estimation, etc.

ConceptMaster: Multi-Concept Video Customization on Diffusion Transformer Models Without Test-Time Tuning

Text-to-video generation has made remarkable advancements through diffusion models. However, Multi-Concept Video Customization (MCVC) remains a significant challenge. We identify two key challenges in this task: 1) the identity decoupling problem, where directly adopting existing customization methods inevitably mix attributes when handling multiple concepts simultaneously, and 2) the scarcity of high-quality video-entity pairs, which is crucial for training such a model that represents and decouples various concepts well. To address these challenges, we introduce ConceptMaster, an innovative framework that effectively tackles the critical issues of identity decoupling while maintaining concept fidelity in customized videos. Specifically, we introduce a novel strategy of learning decoupled multi-concept embeddings that are injected into the diffusion models in a standalone manner, which effectively guarantees the quality of customized videos with multiple identities, even for highly similar visual concepts. To further overcome the scarcity of high-quality MCVC data, we carefully establish a data construction pipeline, which enables systematic collection of precise multi-concept video-entity data across diverse concepts. A comprehensive benchmark is designed to validate the effectiveness of our model from three critical dimensions: concept fidelity, identity decoupling ability, and video generation quality across six different concept composition scenarios. Extensive experiments demonstrate that our ConceptMaster significantly outperforms previous approaches for this task, paving the way for generating personalized and semantically accurate videos across multiple concepts.

ScaMo: Exploring the Scaling Law in Autoregressive Motion Generation Model

The scaling law has been validated in various domains, such as natural language processing (NLP) and massive computer vision tasks; however, its application to motion generation remains largely unexplored. In this paper, we introduce a scalable motion generation framework that includes the motion tokenizer Motion FSQ-VAE and a text-prefix autoregressive transformer. Through comprehensive experiments, we observe the scaling behavior of this system. For the first time, we confirm the existence of scaling laws within the context of motion generation. Specifically, our results demonstrate that the normalized test loss of our prefix autoregressive models adheres to a logarithmic law in relation to compute budgets. Furthermore, we also confirm the power law between Non-Vocabulary Parameters, Vocabulary Parameters, and Data Tokens with respect to compute budgets respectively. Leveraging the scaling law, we predict the optimal transformer size, vocabulary size, and data requirements for a compute budget of $1e18$. The test loss of the system, when trained with the optimal model size, vocabulary size, and required data, aligns precisely with the predicted test loss, thereby validating the scaling law.

Ensuring Force Safety in Vision-Guided Robotic Manipulation via Implicit Tactile Calibration

In dynamic environments, robots often encounter constrained movement trajectories when manipulating objects with specific properties, such as doors. Therefore, applying the appropriate force is crucial to prevent damage to both the robots and the objects. However, current vision-guided robot state generation methods often falter in this regard, as they lack the integration of tactile perception. To tackle this issue, this paper introduces a novel state diffusion framework termed SafeDiff. It generates a prospective state sequence from the current robot state and visual context observation while incorporating real-time tactile feedback to refine the sequence. As far as we know, this is the first study specifically focused on ensuring force safety in robotic manipulation. It significantly enhances the rationality of state planning, and the safe action trajectory is derived from inverse dynamics based on this refined planning. In practice, unlike previous approaches that concatenate visual and tactile data to generate future robot state sequences, our method employs tactile data as a calibration signal to adjust the robot's state within the state space implicitly. Additionally, we've developed a large-scale simulation dataset called SafeDoorManip50k, offering extensive multimodal data to train and evaluate the proposed method. Extensive experiments show that our visual-tactile model substantially mitigates the risk of harmful forces in the door opening, across both simulated and real-world settings.

KptLLM: Unveiling the Power of Large Language Model for Keypoint Comprehension

Recent advancements in Multimodal Large Language Models (MLLMs) have greatly improved their abilities in image understanding. However, these models often struggle with grasping pixel-level semantic details, e.g., the keypoints of an object. To bridge this gap, we introduce the novel challenge of Semantic Keypoint Comprehension, which aims to comprehend keypoints across different task scenarios, including keypoint semantic understanding, visual prompt-based keypoint detection, and textual prompt-based keypoint detection. Moreover, we introduce KptLLM, a unified multimodal model that utilizes an identify-then-detect strategy to effectively address these challenges. KptLLM underscores the initial discernment of semantics in keypoints, followed by the precise determination of their positions through a chain-of-thought process. With several carefully designed modules, KptLLM adeptly handles various modality inputs, facilitating the interpretation of both semantic contents and keypoint locations. Our extensive experiments demonstrate KptLLM's superiority in various keypoint detection benchmarks and its unique semantic capabilities in interpreting keypoints.