Jingjing Zhang

Xinyi Chen, Yilun Chen, Yanwei Fu et al.

We introduce InternVLA-M1, a unified framework for spatial grounding and robot control that advances instruction-following robots toward scalable, general-purpose intelligence. Its core idea is spatially guided vision-language-action training, where spatial grounding serves as the critical link between instructions and robot actions. InternVLA-M1 employs a two-stage pipeline: (i) spatial grounding pre-training on over 2.3M spatial reasoning data to determine ``where to act'' by aligning instructions with visual, embodiment-agnostic positions, and (ii) spatially guided action post-training to decide ``how to act'' by generating embodiment-aware actions through plug-and-play spatial prompting. This spatially guided training recipe yields consistent gains: InternVLA-M1 outperforms its variant without spatial guidance by +14.6% on SimplerEnv Google Robot, +17% on WidowX, and +4.3% on LIBERO Franka, while demonstrating stronger spatial reasoning capability in box, point, and trace prediction. To further scale instruction following, we built a simulation engine to collect 244K generalizable pick-and-place episodes, enabling a 6.2% average improvement across 200 tasks and 3K+ objects. In real-world clustered pick-and-place, InternVLA-M1 improved by 7.3%, and with synthetic co-training, achieved +20.6% on unseen objects and novel configurations. Moreover, in long-horizon reasoning-intensive scenarios, it surpassed existing works by over 10%. These results highlight spatially guided training as a unifying principle for scalable and resilient generalist robots. Code and models are available at https://github.com/InternRobotics/InternVLA-M1.

Zhongwu Xie, Weipeng Cao, Xizhao Wang et al.

Most of the Zero-Shot Learning (ZSL) algorithms currently use pre-trained models as their feature extractors, which are usually trained on the ImageNet data set by using deep neural networks. The richness of the feature information embedded in the pre-trained models can help the ZSL model extract more useful features from its limited training samples. However, sometimes the difference between the training data set of the current ZSL task and the ImageNet data set is too large, which may lead to the use of pre-trained models has no obvious help or even negative impact on the performance of the ZSL model. To solve this problem, this paper proposes a biologically inspired feature enhancement framework for ZSL. Specifically, we design a dual-channel learning framework that uses auxiliary data sets to enhance the feature extractor of the ZSL model and propose a novel method to guide the selection of the auxiliary data sets based on the knowledge of biological taxonomy. Extensive experimental results show that our proposed method can effectively improve the generalization ability of the ZSL model and achieve state-of-the-art results on three benchmark ZSL tasks. We also explained the experimental phenomena through the way of feature visualization.