Yuhao Dong

Jingkang Yang, Yuhao Dong, Shuai Liu et al.

Large vision-language models (VLMs) have achieved substantial progress in multimodal perception and reasoning. When integrated into an embodied agent, existing embodied VLM works either output detailed action sequences at the manipulation level or only provide plans at an abstract level, leaving a gap between high-level planning and real-world manipulation. To bridge this gap, we introduce Octopus, an embodied vision-language programmer that uses executable code generation as a medium to connect planning and manipulation. Octopus is designed to 1) proficiently comprehend an agent's visual and textual task objectives, 2) formulate intricate action sequences, and 3) generate executable code. To facilitate Octopus model development, we introduce OctoVerse: a suite of environments tailored for benchmarking vision-based code generators on a wide spectrum of tasks, ranging from mundane daily chores in simulators to sophisticated interactions in complex video games such as Grand Theft Auto (GTA) and Minecraft. To train Octopus, we leverage GPT-4 to control an explorative agent that generates training data, i.e., action blueprints and corresponding executable code. We also collect feedback that enables an enhanced training scheme called Reinforcement Learning with Environmental Feedback (RLEF). Through a series of experiments, we demonstrate Octopus's functionality and present compelling results, showing that the proposed RLEF refines the agent's decision-making. By open-sourcing our simulation environments, dataset, and model architecture, we aspire to ignite further innovation and foster collaborative applications within the broader embodied AI community.

Zhuoyang Zhang, Yuhao Dong, Yunze Liu et al.

Recent work on 4D point cloud sequences has attracted a lot of attention. However, obtaining exhaustively labeled 4D datasets is often very expensive and laborious, so it is especially important to investigate how to utilize raw unlabeled data. However, most existing self-supervised point cloud representation learning methods only consider geometry from a static snapshot omitting the fact that sequential observations of dynamic scenes could reveal more comprehensive geometric details. And the video representation learning frameworks mostly model motion as image space flows, let alone being 3D-geometric-aware. To overcome such issues, this paper proposes a new 4D self-supervised pre-training method called Complete-to-Partial 4D Distillation. Our key idea is to formulate 4D self-supervised representation learning as a teacher-student knowledge distillation framework and let the student learn useful 4D representations with the guidance of the teacher. Experiments show that this approach significantly outperforms previous pre-training approaches on a wide range of 4D point cloud sequence understanding tasks including indoor and outdoor scenarios.

Zuyan Liu, Yuhao Dong, Jiahui Wang et al.

Recent advances in large language models, particularly following GPT-4o, have sparked increasing interest in developing omni-modal models capable of understanding more modalities. While some open-source alternatives have emerged, there is still a notable lag behind specialized single-modality models in performance. In this paper, we present Ola, an Omni-modal Language model that achieves competitive performance across image, video, and audio understanding compared to specialized counterparts, pushing the frontiers of the omni-modal language model to a large extent. We conduct a comprehensive exploration of architectural design, data curation, and training strategies essential for building a robust omni-modal model. Ola incorporates advanced visual understanding and audio recognition capabilities through several critical and effective improvements over mainstream baselines. Moreover, we rethink inter-modal relationships during omni-modal training, emphasizing cross-modal alignment with video as a central bridge, and propose a progressive training pipeline that begins with the most distinct modalities and gradually moves towards closer modality alignment. Extensive experiments demonstrate that Ola surpasses existing open omni-modal LLMs across all modalities while achieving highly competitive performance compared to state-of-the-art specialized models of similar sizes. We aim to make Ola a fully open omni-modal understanding solution to advance future research in this emerging field. Model weights, code, and data are open-sourced at https://github.com/Ola-Omni/Ola.

Yuhao Dong, Zhuoyang Zhang, Yunze Liu et al.

Understanding 4D point cloud sequences online is of significant practical value in various scenarios such as VR/AR, robotics, and autonomous driving. The key goal is to continuously analyze the geometry and dynamics of a 3D scene as unstructured and redundant point cloud sequences arrive. And the main challenge is to effectively model the long-term history while keeping computational costs manageable. To tackle these challenges, we introduce a generic online 4D perception paradigm called NSM4D. NSM4D serves as a plug-and-play strategy that can be adapted to existing 4D backbones, significantly enhancing their online perception capabilities for both indoor and outdoor scenarios. To efficiently capture the redundant 4D history, we propose a neural scene model that factorizes geometry and motion information by constructing geometry tokens separately storing geometry and motion features. Exploiting the history becomes as straightforward as querying the neural scene model. As the sequence progresses, the neural scene model dynamically deforms to align with new observations, effectively providing the historical context and updating itself with the new observations. By employing token representation, NSM4D also exhibits robustness to low-level sensor noise and maintains a compact size through a geometric sampling scheme. We integrate NSM4D with state-of-the-art 4D perception backbones, demonstrating significant improvements on various online perception benchmarks in indoor and outdoor settings. Notably, we achieve a 9.6% accuracy improvement for HOI4D online action segmentation and a 3.4% mIoU improvement for SemanticKITTI online semantic segmentation. Furthermore, we show that NSM4D inherently offers excellent scalability to longer sequences beyond the training set, which is crucial for real-world applications.

Xinyu Huang, Yuhao Dong, Weiwei Tian et al.

State-of-the-art large multi-modal models (LMMs) face challenges when processing high-resolution images, as these inputs are converted into enormous visual tokens, many of which are irrelevant to the downstream task. In this paper, we propose Multi-turn Grounding-based Policy Optimization (MGPO), an end-to-end reinforcement learning (RL) framework that enables LMMs to iteratively focus on key visual regions by automatically cropping sub-images, based on model-predicted grounding coordinates within a multi-turn conversation framework. Compared to supervised fine-tuning (SFT), which requires costly additional grounding annotations, our approach highlights that LMMs can emerge robust grounding abilities during the RL training process, leveraging only a binary reward function derived from the correctness of the final answer. Additionally, we observe that LMMs struggle to autonomously trigger visual grounding during the rollout process. To address this cold start problem, we design a multi-turn conversational template and restrict policy loss computation to model outputs generated across multiple dialogue rounds, thereby promoting stable optimization. Extensive experiments demonstrate that, when trained on standard visual-question-short answering data without grounding annotations, MGPO effectively elicits stronger grounding capabilities compared to GRPO, leading to 5.4\% improvement on in-distribution MME-Realworld and 5.2\% improvement on the challenging out-of-distribution (OOD) V* Bench. Notably, MGPO post-training on Qwen2.5-VL-7B with 21K samples surpasses OpenAI's o1 and GPT-4o models on the OOD V* Bench. Codes are available at https://github.com/EvolvingLMMs-Lab/MGPO.

Zuyan Liu, Yuhao Dong, Yongming Rao et al.

In the realm of vision-language understanding, the proficiency of models in interpreting and reasoning over visual content has become a cornerstone for numerous applications. However, it is challenging for the visual encoder in Large Vision-Language Models (LVLMs) to extract useful features tailored to questions that aid the language model's response. Furthermore, a common practice among existing LVLMs is to utilize lower-resolution images, which restricts the ability for visual recognition. Our work introduces the Chain-of-Spot (CoS) method, which we describe as Interactive Reasoning, a novel approach that enhances feature extraction by focusing on key regions of interest (ROI) within the image, corresponding to the posed questions or instructions. This technique allows LVLMs to access more detailed visual information without altering the original image resolution, thereby offering multi-granularity image features. By integrating Chain-of-Spot with instruct-following LLaVA-1.5 models, the process of image reasoning consistently improves performance across a wide range of multimodal datasets and benchmarks without bells and whistles and achieves new state-of-the-art results. Our empirical findings demonstrate a significant improvement in LVLMs' ability to understand and reason about visual content, paving the way for more sophisticated visual instruction-following applications. Code and models are available at https://github.com/dongyh20/Chain-of-Spot

Yuhao Dong, Zuyan Liu, Hai-Long Sun et al.

Large Language Models (LLMs) demonstrate enhanced capabilities and reliability by reasoning more, evolving from Chain-of-Thought prompting to product-level solutions like OpenAI o1. Despite various efforts to improve LLM reasoning, high-quality long-chain reasoning data and optimized training pipelines still remain inadequately explored in vision-language tasks. In this paper, we present Insight-V, an early effort to 1) scalably produce long and robust reasoning data for complex multi-modal tasks, and 2) an effective training pipeline to enhance the reasoning capabilities of multi-modal large language models (MLLMs). Specifically, to create long and structured reasoning data without human labor, we design a two-step pipeline with a progressive strategy to generate sufficiently long and diverse reasoning paths and a multi-granularity assessment method to ensure data quality. We observe that directly supervising MLLMs with such long and complex reasoning data will not yield ideal reasoning ability. To tackle this problem, we design a multi-agent system consisting of a reasoning agent dedicated to performing long-chain reasoning and a summary agent trained to judge and summarize reasoning results. We further incorporate an iterative DPO algorithm to enhance the reasoning agent's generation stability and quality. Based on the popular LLaVA-NeXT model and our stronger base MLLM, we demonstrate significant performance gains across challenging multi-modal benchmarks requiring visual reasoning. Benefiting from our multi-agent system, Insight-V can also easily maintain or improve performance on perception-focused multi-modal tasks.

Yuanhan Zhang, Yunice Chew, Yuhao Dong et al.

Human intelligence requires correctness and robustness, with the former being foundational for the latter. In video understanding, correctness ensures the accurate interpretation of visual content, and robustness maintains consistent performance in challenging conditions. Despite advances in video large language models (video LLMs), existing benchmarks inadequately reflect the gap between these models and human intelligence in maintaining correctness and robustness in video interpretation. We introduce the Video Thinking Test (Video-TT), to assess if video LLMs can interpret real-world videos as effectively as humans. Video-TT reflects genuine gaps in understanding complex visual narratives, and evaluates robustness against natural adversarial questions. Video-TT comprises 1,000 YouTube Shorts videos, each with one open-ended question and four adversarial questions that probe visual and narrative complexity. Our evaluation shows a significant gap between video LLMs and human performance.

Lingdong Kong, Dongyue Lu, Ao Liang et al.

Event cameras offer microsecond-level latency and robustness to motion blur, making them ideal for understanding dynamic environments. Yet, connecting these asynchronous streams to human language remains an open challenge. We introduce Talk2Event, the first large-scale benchmark for language-driven object grounding in event-based perception. Built from real-world driving data, we provide over 30,000 validated referring expressions, each enriched with four grounding attributes -- appearance, status, relation to viewer, and relation to other objects -- bridging spatial, temporal, and relational reasoning. To fully exploit these cues, we propose EventRefer, an attribute-aware grounding framework that dynamically fuses multi-attribute representations through a Mixture of Event-Attribute Experts (MoEE). Our method adapts to different modalities and scene dynamics, achieving consistent gains over state-of-the-art baselines in event-only, frame-only, and event-frame fusion settings. We hope our dataset and approach will establish a foundation for advancing multimodal, temporally-aware, and language-driven perception in real-world robotics and autonomy.

Zeyang Yao, Jiawei Zhang, Hailong Qiu et al.

Type-B Aortic Dissection (TBAD) is one of the most serious cardiovascular events characterized by a growing yearly incidence,and the severity of disease prognosis. Currently, computed tomography angiography (CTA) has been widely adopted for the diagnosis and prognosis of TBAD. Accurate segmentation of true lumen (TL), false lumen (FL), and false lumen thrombus (FLT) in CTA are crucial for the precise quantification of anatomical features. However, existing works only focus on only TL and FL without considering FLT. In this paper, we propose ImageTBAD, the first 3D computed tomography angiography (CTA) image dataset of TBAD with annotation of TL, FL, and FLT. The proposed dataset contains 100 TBAD CTA images, which is of decent size compared with existing medical imaging datasets. As FLT can appear almost anywhere along the aorta with irregular shapes, segmentation of FLT presents a wide class of segmentation problems where targets exist in a variety of positions with irregular shapes. We further propose a baseline method for automatic segmentation of TBAD. Results show that the baseline method can achieve comparable results with existing works on aorta and TL segmentation. However, the segmentation accuracy of FLT is only 52%, which leaves large room for improvement and also shows the challenge of our dataset. To facilitate further research on this challenging problem, our dataset and codes are released to the public.

Xiaowe Xu, Jiawei Zhang, Jinglan Liu et al.

As one of the most commonly ordered imaging tests, computed tomography (CT) scan comes with inevitable radiation exposure that increases the cancer risk to patients. However, CT image quality is directly related to radiation dose, thus it is desirable to obtain high-quality CT images with as little dose as possible. CT image denoising tries to obtain high dose like high-quality CT images (domain X) from low dose low-quality CTimages (domain Y), which can be treated as an image-to-image translation task where the goal is to learn the transform between a source domain X (noisy images) and a target domain Y (clean images). In this paper, we propose a multi-cycle-consistent adversarial network (MCCAN) that builds intermediate domains and enforces both local and global cycle-consistency for edge denoising of CT images. The global cycle-consistency couples all generators together to model the whole denoising process, while the local cycle-consistency imposes effective supervision on the process between adjacent domains. Experiments show that both local and global cycle-consistency are important for the success of MCCAN, which outperformsCCADN in terms of denoising quality with slightly less computation resource consumption.

Xiaowei Xu, Tianchen Wang, Jian Zhuang et al.

Congenital heart disease (CHD) is the most common type of birth defect, which occurs 1 in every 110 births in the United States. CHD usually comes with severe variations in heart structure and great artery connections that can be classified into many types. Thus highly specialized domain knowledge and the time-consuming human process is needed to analyze the associated medical images. On the other hand, due to the complexity of CHD and the lack of dataset, little has been explored on the automatic diagnosis (classification) of CHDs. In this paper, we present ImageCHD, the first medical image dataset for CHD classification. ImageCHD contains 110 3D Computed Tomography (CT) images covering most types of CHD, which is of decent size Classification of CHDs requires the identification of large structural changes without any local tissue changes, with limited data. It is an example of a larger class of problems that are quite difficult for current machine-learning-based vision methods to solve. To demonstrate this, we further present a baseline framework for the automatic classification of CHD, based on a state-of-the-art CHD segmentation method. Experimental results show that the baseline framework can only achieve a classification accuracy of 82.0\% under a selective prediction scheme with 88.4\% coverage, leaving big room for further improvement. We hope that ImageCHD can stimulate further research and lead to innovative and generic solutions that would have an impact in multiple domains. Our dataset is released to the public compared with existing medical imaging datasets.

Yutian Chen, Xiaowei Xu, Dewen Zeng et al.

Coronary artery disease (CAD) is the most common cause of death globally, and its diagnosis is usually based on manual myocardial segmentation of Magnetic Resonance Imaging (MRI) sequences. As the manual segmentation is tedious, time-consuming and with low applicability, automatic myocardial segmentation using machine learning techniques has been widely explored recently. However, almost all the existing methods treat the input MRI sequences independently, which fails to capture the temporal information between sequences, e.g., the shape and location information of the myocardium in sequences along time. In this paper, we propose a myocardial segmentation framework for sequence of cardiac MRI (CMR) scanning images of left ventricular cavity, right ventricular cavity, and myocardium. Specifically, we propose to combine conventional networks and recurrent networks to incorporate temporal information between sequences to ensure temporal consistent. We evaluated our framework on the Automated Cardiac Diagnosis Challenge (ACDC) dataset. Experiment results demonstrate that our framework can improve the segmentation accuracy by up to 2% in Dice coefficient.

Mingjie Li, Youqian Feng, Zhonghai Yin et al.

The traditional methods of action recognition are not specific for the operator, thus results are easy to be disturbed when other actions are operated in videos. The network based on mixed convolutional resnet and RPN is proposed in this paper. The rMC is tested in the data set of UCF-101 to compare with the method of R3D. The result shows that its correct rate reaches 71.07%. Meanwhile, the action recognition network is tested in our gesture and body posture data sets for specific target. The simulation achieves a good performance in which the running speed reaches 200 FPS. Finally, our model is improved by introducing the regression block and performs better, which shows the great potential of this model.