Qi Sun

Yew Ken Chia, Qi Sun, Lidong Bing et al.

Large multimodal models have demonstrated impressive problem-solving abilities in vision and language tasks, and have the potential to encode extensive world knowledge. However, it remains an open challenge for these models to perceive, reason, plan, and act in realistic environments. In this work, we introduce Can-Do, a benchmark dataset designed to evaluate embodied planning abilities through more diverse and complex scenarios than previous datasets. Our dataset includes 400 multimodal samples, each consisting of natural language user instructions, visual images depicting the environment, state changes, and corresponding action plans. The data encompasses diverse aspects of commonsense knowledge, physical understanding, and safety awareness. Our fine-grained analysis reveals that state-of-the-art models, including GPT-4V, face bottlenecks in visual perception, comprehension, and reasoning abilities. To address these challenges, we propose NeuroGround, a neurosymbolic framework that first grounds the plan generation in the perceived environment states and then leverages symbolic planning engines to augment the model-generated plans. Experimental results demonstrate the effectiveness of our framework compared to strong baselines. Our code and dataset are available at https://embodied-planning.github.io.

Stefan Nielsen, Edoardo Cetin, Peter Schwendeman et al.

Powerful large language models (LLMs) from different providers have been expensively trained and finetuned to specialize across varying domains. In this work, we introduce a new kind of Conductor model trained with reinforcement learning to automatically discover powerful coordination strategies among LLMs. Our Conductor learns not only to design targeted communication topologies for effective agent-to-agent collaboration, but also to prompt engineer focused instructions to the LLMs to maximally leverage their individual capabilities. We show that, by learning optimal coordination strategies over pools of powerful worker LLMs, a 7B Conductor achieves significant performance gains beyond any individual worker, attaining state-of-the-art results in challenging reasoning benchmarks, such as LiveCodeBench and GPQA. By training with randomized agent pools, our conductor effectively adapts to arbitrary sets of open- and closed-source agents, meeting any user requirements. Furthermore, allowing the Conductor to select itself as a worker gives rise to recursive topologies, elevating performance with a new form of dynamic test-time scaling through online iterative adaptation. More broadly, ours is among the early work demonstrating language model coordination can be unlocked through RL, where powerful coordination strategies emerge naturally in LLMs through pure end-to-end reward maximization.

Jinglue Xu, Qi Sun, Peter Schwendeman et al.

Combining diverse foundation models is promising, but weight-merging is limited by mismatched architectures and closed APIs. Trinity addresses this with a lightweight coordinator that orchestrates collaboration among large language models (LLMs). The coordinator, comprising a compact language model (approximately $0.6$B parameters) and a lightweight head (approximately $10$K parameters), is optimized with an evolutionary strategy for efficient and adaptive delegation. Trinity processes queries over multiple turns, where at each turn the coordinator assigns one of three roles (Thinker, Worker, or Verifier) to a selected LLM, effectively offloading complex skill acquisition from the coordinator itself. Experiments show that Trinity consistently outperforms individual models and existing methods across coding, math, reasoning, and domain knowledge tasks, and generalizes robustly to out-of-distribution tasks. On standard benchmarks, Trinity achieves state-of-the-art results, including a score of 86.2% on LiveCodeBench. Theoretical and empirical analyses identify two main factors behind this performance: (1) the coordinator's hidden-state representations provide rich contextualization of inputs, and (2) under high dimensionality and strict budget constraints, the separable Covariance Matrix Adaptation Evolution Strategy offers advantages over reinforcement learning, imitation learning, and random search by exploiting potential block-epsilon-separability.

Chia-Yu Hung, Qi Sun, Pengfei Hong et al.

Existing Visual-Language-Action (VLA) models have shown promising performance in zero-shot scenarios, demonstrating impressive task execution and reasoning capabilities. However, a significant challenge arises from the limitations of visual encoding, which can result in failures during tasks such as object grasping. Moreover, these models typically suffer from high computational overhead due to their large sizes, often exceeding 7B parameters. While these models excel in reasoning and task planning, the substantial computational overhead they incur makes them impractical for real-time robotic environments, where speed and efficiency are paramount. To address the limitations of existing VLA models, we propose NORA, a 3B-parameter model designed to reduce computational overhead while maintaining strong task performance. NORA adopts the Qwen-2.5-VL-3B multimodal model as its backbone, leveraging its superior visual-semantic understanding to enhance visual reasoning and action grounding. Additionally, our \model{} is trained on 970k real-world robot demonstrations and equipped with the FAST+ tokenizer for efficient action sequence generation. Experimental results demonstrate that NORA outperforms existing large-scale VLA models, achieving better task performance with significantly reduced computational overhead, making it a more practical solution for real-time robotic autonomy.

Qi Sun, Pengfei Hong, Tej Deep Pala et al. · deepmind

Traditional reinforcement learning-based robotic control methods are often task-specific and fail to generalize across diverse environments or unseen objects and instructions. Visual Language Models (VLMs) demonstrate strong scene understanding and planning capabilities but lack the ability to generate actionable policies tailored to specific robotic embodiments. To address this, Visual-Language-Action (VLA) models have emerged, yet they face challenges in long-horizon spatial reasoning and grounded task planning. In this work, we propose the Embodied Multimodal Action Model with Grounded Chain of Thought and Look-ahead Spatial Reasoning, Emma-X. Emma-X leverages our constructed hierarchical embodiment dataset based on BridgeV2, containing 60,000 robot manipulation trajectories auto-annotated with grounded task reasoning and spatial guidance. Additionally, we introduce a trajectory segmentation strategy based on gripper states and motion trajectories, which can help mitigate hallucination in grounding subtask reasoning generation. Experimental results demonstrate that Emma-X achieves superior performance over competitive baselines, particularly in real-world robotic tasks requiring spatial reasoning.

Fenghua Shao, Tong Zhang, Shang Gao et al.

This study mainly explores the application of natural gesture recognition based on computer vision in human-computer interaction, aiming to improve the fluency and naturalness of human-computer interaction through gesture recognition technology. In the fields of virtual reality, augmented reality and smart home, traditional input methods have gradually failed to meet the needs of users for interactive experience. As an intuitive and convenient interaction method, gestures have received more and more attention. This paper proposes a gesture recognition method based on a three-dimensional hand skeleton model. By simulating the three-dimensional spatial distribution of hand joints, a simplified hand skeleton structure is constructed. By connecting the palm and each finger joint, a dynamic and static gesture model of the hand is formed, which further improves the accuracy and efficiency of gesture recognition. Experimental results show that this method can effectively recognize various gestures and maintain high recognition accuracy and real-time response capabilities in different environments. In addition, combined with multimodal technologies such as eye tracking, the intelligence level of the gesture recognition system can be further improved, bringing a richer and more intuitive user experience. In the future, with the continuous development of computer vision, deep learning and multimodal interaction technology, natural interaction based on gestures will play an important role in a wider range of application scenarios and promote revolutionary progress in human-computer interaction.

Qi Sun, Kun Huang, Xiaocui Yang et al.

Document-level Relation Triplet Extraction (DocRTE) is a fundamental task in information systems that aims to simultaneously extract entities with semantic relations from a document. Existing methods heavily rely on a substantial amount of fully labeled data. However, collecting and annotating data for newly emerging relations is time-consuming and labor-intensive. Recent advanced Large Language Models (LLMs), such as ChatGPT and LLaMA, exhibit impressive long-text generation capabilities, inspiring us to explore an alternative approach for obtaining auto-labeled documents with new relations. In this paper, we propose a Zero-shot Document-level Relation Triplet Extraction (ZeroDocRTE) framework, which generates labeled data by retrieval and denoising knowledge from LLMs, called GenRDK. Specifically, we propose a chain-of-retrieval prompt to guide ChatGPT to generate labeled long-text data step by step. To improve the quality of synthetic data, we propose a denoising strategy based on the consistency of cross-document knowledge. Leveraging our denoised synthetic data, we proceed to fine-tune the LLaMA2-13B-Chat for extracting document-level relation triplets. We perform experiments for both zero-shot document-level relation and triplet extraction on two public datasets. The experimental results illustrate that our GenRDK framework outperforms strong baselines.